Merged GPL + LGPL v2 or later EtherCAT extension. Fixed headers and copyright notice.
authorEdouard Tisserant <edouard.tisserant@gmail.com>
Sat, 23 Jun 2018 09:08:13 +0200
changeset 2165 02a2b5dee5e3
parent 2021 bcf346f558bd (current diff)
parent 2164 7a959b19d5a4 (diff)
child 2192 09d5d1456616
Merged GPL + LGPL v2 or later EtherCAT extension. Fixed headers and copyright notice.
.hgignore
ethercat_tests/wago_higen/beremiz.xml
ethercat_tests/wago_higen/ethercat@etherlab/baseconfnode.xml
ethercat_tests/wago_higen/ethercat@etherlab/confnode.xml
ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/baseconfnode.xml
ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/config.xml
ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/confnode.xml
ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/coupler@EthercatSlave/baseconfnode.xml
ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/coupler@EthercatSlave/confnode.xml
ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/higen@EthercatCIA402Slave/baseconfnode.xml
ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/higen@EthercatCIA402Slave/confnode.xml
ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/inputs@EthercatSlave/baseconfnode.xml
ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/inputs@EthercatSlave/confnode.xml
ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/outputs@EthercatSlave/baseconfnode.xml
ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/outputs@EthercatSlave/confnode.xml
ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/process_variables.xml
ethercat_tests/wago_higen/ethercat@etherlab/modules/Beckhoff EKxxxx.xml
ethercat_tests/wago_higen/ethercat@etherlab/modules/Beckhoff EL1xxx.xml
ethercat_tests/wago_higen/ethercat@etherlab/modules/Beckhoff EL2xxx.xml
ethercat_tests/wago_higen/ethercat@etherlab/modules/Higen_EDA7000_CoE_ver16_with_variablePDO_rv3.xml
ethercat_tests/wago_higen/ethercat@etherlab/modules/modules_extra_params.cfg
ethercat_tests/wago_higen/plc.xml
ethercat_tests/wago_sanyo/beremiz.xml
ethercat_tests/wago_sanyo/ethercat@etherlab/baseconfnode.xml
ethercat_tests/wago_sanyo/ethercat@etherlab/confnode.xml
ethercat_tests/wago_sanyo/ethercat@etherlab/master@EthercatNode/baseconfnode.xml
ethercat_tests/wago_sanyo/ethercat@etherlab/master@EthercatNode/config.xml
ethercat_tests/wago_sanyo/ethercat@etherlab/master@EthercatNode/confnode.xml
ethercat_tests/wago_sanyo/ethercat@etherlab/master@EthercatNode/coupler@EthercatSlave/baseconfnode.xml
ethercat_tests/wago_sanyo/ethercat@etherlab/master@EthercatNode/coupler@EthercatSlave/confnode.xml
ethercat_tests/wago_sanyo/ethercat@etherlab/master@EthercatNode/inputs@EthercatSlave/baseconfnode.xml
ethercat_tests/wago_sanyo/ethercat@etherlab/master@EthercatNode/inputs@EthercatSlave/confnode.xml
ethercat_tests/wago_sanyo/ethercat@etherlab/master@EthercatNode/outputs@EthercatSlave/baseconfnode.xml
ethercat_tests/wago_sanyo/ethercat@etherlab/master@EthercatNode/outputs@EthercatSlave/confnode.xml
ethercat_tests/wago_sanyo/ethercat@etherlab/master@EthercatNode/sanyo@EthercatCIA402Slave/baseconfnode.xml
ethercat_tests/wago_sanyo/ethercat@etherlab/master@EthercatNode/sanyo@EthercatCIA402Slave/confnode.xml
ethercat_tests/wago_sanyo/ethercat@etherlab/modules/Beckhoff EKxxxx.xml
ethercat_tests/wago_sanyo/ethercat@etherlab/modules/Beckhoff EL1xxx.xml
ethercat_tests/wago_sanyo/ethercat@etherlab/modules/Beckhoff EL2xxx.xml
ethercat_tests/wago_sanyo/ethercat@etherlab/modules/sanyo.xml
ethercat_tests/wago_sanyo/plc.xml
etherlab/CommonEtherCATFunction.py
etherlab/ConfigEditor.py
etherlab/EtherCATManagementEditor.py
etherlab/EthercatCFileGenerator.py
etherlab/EthercatCIA402Slave.py
etherlab/EthercatMaster.py
etherlab/EthercatSlave.py
etherlab/entries_list.ysl2
etherlab/etherlab.py
etherlab/etherlab_ext.c
etherlab/extension.py
etherlab/plc_cia402node.c
etherlab/plc_etherlab.c
features.py
tests/ethercat/wago_higen/beremiz.xml
tests/ethercat/wago_higen/ethercat@etherlab/baseconfnode.xml
tests/ethercat/wago_higen/ethercat@etherlab/confnode.xml
tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/baseconfnode.xml
tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/config.xml
tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/confnode.xml
tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/coupler@EthercatSlave/baseconfnode.xml
tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/coupler@EthercatSlave/confnode.xml
tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/higen@EthercatCIA402Slave/baseconfnode.xml
tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/higen@EthercatCIA402Slave/confnode.xml
tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/inputs@EthercatSlave/baseconfnode.xml
tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/inputs@EthercatSlave/confnode.xml
tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/outputs@EthercatSlave/baseconfnode.xml
tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/outputs@EthercatSlave/confnode.xml
tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/process_variables.xml
tests/ethercat/wago_higen/ethercat@etherlab/modules/Beckhoff EKxxxx.xml
tests/ethercat/wago_higen/ethercat@etherlab/modules/Beckhoff EL1xxx.xml
tests/ethercat/wago_higen/ethercat@etherlab/modules/Beckhoff EL2xxx.xml
tests/ethercat/wago_higen/ethercat@etherlab/modules/Higen_EDA7000_CoE_ver16_with_variablePDO_rv3.xml
tests/ethercat/wago_higen/ethercat@etherlab/modules/modules_extra_params.cfg
tests/ethercat/wago_higen/plc.xml
tests/ethercat/wago_sanyo/beremiz.xml
tests/ethercat/wago_sanyo/ethercat@etherlab/baseconfnode.xml
tests/ethercat/wago_sanyo/ethercat@etherlab/confnode.xml
tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/baseconfnode.xml
tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/config.xml
tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/confnode.xml
tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/coupler@EthercatSlave/baseconfnode.xml
tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/coupler@EthercatSlave/confnode.xml
tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/inputs@EthercatSlave/baseconfnode.xml
tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/inputs@EthercatSlave/confnode.xml
tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/outputs@EthercatSlave/baseconfnode.xml
tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/outputs@EthercatSlave/confnode.xml
tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/sanyo@EthercatCIA402Slave/baseconfnode.xml
tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/sanyo@EthercatCIA402Slave/confnode.xml
tests/ethercat/wago_sanyo/ethercat@etherlab/modules/Beckhoff EKxxxx.xml
tests/ethercat/wago_sanyo/ethercat@etherlab/modules/Beckhoff EL1xxx.xml
tests/ethercat/wago_sanyo/ethercat@etherlab/modules/Beckhoff EL2xxx.xml
tests/ethercat/wago_sanyo/ethercat@etherlab/modules/sanyo.xml
tests/ethercat/wago_sanyo/plc.xml
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/etherlab/CommonEtherCATFunction.py	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,1591 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+
+# This file is part of Beremiz
+#
+# Copyright (C) 2013: Real-Time & Embedded Systems (RTES) Lab. University of Seoul, Korea
+#
+# See COPYING file for copyrights details.
+
+import os
+import wx
+
+mailbox_protocols =  ["AoE", "EoE", "CoE", "FoE", "SoE", "VoE"]
+
+def ExtractHexDecValue(value):
+    """
+     convert numerical value in string format into decimal or hex format.
+     @param value : hex or decimal data
+     @return integer data
+    """
+    try:
+        return int(value)
+    except:
+        pass
+    try:
+        return int(value.replace("#", "0"), 16)
+        
+    except:
+        raise ValueError, "Invalid value for HexDecValue \"%s\"" % value
+
+def ExtractName(names, default=None):
+    """
+     Extract "name" field from XML entries.
+     @param names : XML entry
+     @default : if it fails to extract from the designated XML entry, return the default value ("None").
+     @return default or the name extracted
+    """
+    if len(names) == 1:
+        return names[0].getcontent()
+    else:
+        for name in names:
+            if name.getLcId() == 1033:
+                return name.getcontent()
+    return default
+
+#--------------------------------------------------
+#         Remote Exec Etherlab Commands
+#--------------------------------------------------
+
+# --------------------- for master ---------------------------
+MASTER_STATE = """
+import commands
+result = commands.getoutput("ethercat master")
+returnVal =result 
+"""
+
+# --------------------- for slave ----------------------------
+# ethercat state -p (slave position) (state (INIT, PREOP, SAFEOP, OP))
+SLAVE_STATE = """
+import commands
+result = commands.getoutput("ethercat state -p %d %s")
+returnVal = result 
+"""
+
+# ethercat slave
+GET_SLAVE = """
+import commands
+result = commands.getoutput("ethercat slaves")
+returnVal =result 
+"""
+
+# ethercat xml -p (slave position)
+SLAVE_XML = """
+import commands
+result = commands.getoutput("ethercat xml -p %d")
+returnVal = result 
+"""
+
+# ethercat sdos -p (slave position)
+SLAVE_SDO = """
+import commands
+result = commands.getoutput("ethercat sdos -p %d")
+returnVal =result 
+"""
+
+# ethercat upload -p (slave position) (main index) (sub index)
+GET_SLOW_SDO = """
+import commands
+result = commands.getoutput("ethercat upload -p %d %s %s")
+returnVal =result 
+"""
+
+# ethercat download -p (slave position) (main index) (sub index) (value)
+SDO_DOWNLOAD = """
+import commands
+result = commands.getoutput("ethercat download --type %s -p %d %s %s %s")
+returnVal =result 
+"""
+
+# ethercat sii_read -p (slave position)
+SII_READ = """
+import commands
+result = commands.getoutput("ethercat sii_read -p %d")
+returnVal =result 
+"""
+
+# ethercat reg_read -p (slave position) (address) (size)
+REG_READ = """
+import commands
+result = commands.getoutput("ethercat reg_read -p %d %s %s")
+returnVal =result 
+"""
+
+# ethercat sii_write -p (slave position) - (contents)
+SII_WRITE = """ 
+import subprocess 
+process = subprocess.Popen(
+    ["ethercat", "-f", "sii_write", "-p", "%d", "-"],
+    stdin=subprocess.PIPE)
+process.communicate(sii_data)
+returnVal = process.returncode 
+"""
+
+# ethercat reg_write -p (slave position) -t (uinit16) (address) (data)
+REG_WRITE = """ 
+import commands
+result = commands.getoutput("ethercat reg_write -p %d -t uint16 %s %s")
+returnVal =result 
+""" 
+
+# ethercat rescan -p (slave position)
+RESCAN = """ 
+import commands
+result = commands.getoutput("ethercat rescan -p %d")
+returnVal =result 
+"""
+
+#--------------------------------------------------
+#    Common Method For EtherCAT Management 
+#--------------------------------------------------
+class _CommonSlave:
+
+    # ----- Data Structure for ethercat management ----
+    SlaveState = ""
+
+    # category of SDO data
+    DatatypeDescription, CommunicationObject, ManufacturerSpecific, \
+    ProfileSpecific, Reserved, AllSDOData = range(6)
+    
+    # store the execution result of "ethercat sdos" command into SaveSDOData.
+    SaveSDOData = []
+    
+    # Flags for checking "write" permission of OD entries 
+    CheckPREOP = False
+    CheckSAFEOP = False
+    CheckOP = False
+
+    # Save PDO Data
+    TxPDOInfo = []
+    TxPDOCategory = []
+    RxPDOInfo = []
+    RxPDOCategory = []
+    
+    # Save EEPROM Data
+    SiiData = ""
+
+    # Save Register Data
+    RegData = ""
+    CrtRegSpec = {"ESCType": "",
+                  "FMMUNumber": "",
+                  "SMNumber": "",
+                  "PDIType": ""}
+    
+    def __init__(self, controler):
+        """
+        Constructor
+        @param controler: _EthercatSlaveCTN class in EthercatSlave.py
+        """
+        self.Controler = controler
+         
+        self.ClearSDODataSet()
+    
+    #-------------------------------------------------------------------------------
+    #                        Used Master State
+    #-------------------------------------------------------------------------------
+    def GetMasterState(self):
+        """
+        Execute "ethercat master" command and parse the execution result
+        @return MasterState 
+        """
+
+        # exectute "ethercat master" command 
+        error, return_val = self.Controler.RemoteExec(MASTER_STATE, return_val = None)
+        master_state = {}
+        # parse the reslut
+        for each_line in return_val.splitlines():
+            if len(each_line) > 0 :
+                chunks = each_line.strip().split(':', 1)
+                key = chunks[0]
+                value = []
+                if len(chunks) > 1 :
+                    value = chunks[1].split()
+                if '(attached)' in value:
+                    value.remove('(attached)')
+                master_state[key] = value
+         
+        return master_state     
+    
+    #-------------------------------------------------------------------------------
+    #                        Used Slave State
+    #-------------------------------------------------------------------------------
+    def RequestSlaveState(self, command):
+        """
+        Set slave state to the specified one using "ethercat states -p %d %s" command.
+        Command example : "ethercat states -p 0 PREOP" (target slave position and target state are given.)
+        @param command : target slave state 
+        """
+        error, return_val = self.Controler.RemoteExec(SLAVE_STATE%(self.Controler.GetSlavePos(), command), return_val = None)
+    
+    def GetSlaveStateFromSlave(self):  
+        """
+        Get slave information using "ethercat slaves" command and store the information into internal data structure 
+        (self.SlaveState) for "Slave State" 
+        return_val example : 0  0:0  PREOP  +  EL9800 (V4.30) (PIC24, SPI, ET1100)
+        """ 
+        error, return_val = self.Controler.RemoteExec(GET_SLAVE, return_val = None)
+        self.SlaveState = return_val
+        return return_val 
+
+    #-------------------------------------------------------------------------------
+    #                        Used SDO Management
+    #-------------------------------------------------------------------------------
+    def GetSlaveSDOFromSlave(self):
+        """
+        Get SDO objects information of current slave using "ethercat sdos -p %d" command.
+        Command example : "ethercat sdos -p 0"
+        @return return_val : execution results of "ethercat sdos" command (need to be parsed later)
+        """  
+        error, return_val = self.Controler.RemoteExec(SLAVE_SDO%(self.Controler.GetSlavePos()), return_val = None)
+        return return_val   
+        
+    def SDODownload(self, data_type, idx, sub_idx, value):
+        """
+        Set an SDO object value to user-specified value using "ethercat download" command.
+        Command example : "ethercat download --type int32 -p 0 0x8020 0x12 0x00000000"
+        @param data_type : data type of SDO entry
+        @param idx : index of the SDO entry
+        @param sub_idx : subindex of the SDO entry
+        @param value : value of SDO entry
+        """  
+        error, return_val = self.Controler.RemoteExec(SDO_DOWNLOAD%(data_type, self.Controler.GetSlavePos(), idx, sub_idx, value), return_val = None)
+    
+    def BackupSDODataSet(self):
+        """
+        Back-up current SDO entry information to restore the SDO data 
+         in case that the user cancels SDO update operation.
+    	"""  
+        self.BackupDatatypeDescription = self.SaveDatatypeDescription
+        self.BackupCommunicationObject = self.SaveCommunicationObject
+        self.BackupManufacturerSpecific = self.SaveManufacturerSpecific
+        self.BackupProfileSpecific = self.SaveProfileSpecific
+        self.BackupReserved = self.SaveReserved
+        self.BackupAllSDOData = self.SaveAllSDOData
+    
+    def ClearSDODataSet(self):
+        """
+        Clear the specified SDO entry information.
+        """ 
+        for count in range(6):
+            self.SaveSDOData.append([])
+    
+    #-------------------------------------------------------------------------------
+    #                        Used PDO Monitoring
+    #-------------------------------------------------------------------------------
+    def RequestPDOInfo(self):
+        """
+        Load slave information from RootClass (XML data) and parse the information (calling SlavePDOData() method).
+        """ 
+        # Load slave information from ESI XML file (def EthercatMaster.py)
+        slave = self.Controler.CTNParent.GetSlave(self.Controler.GetSlavePos())
+        
+        type_infos = slave.getType()
+        device, alignment = self.Controler.CTNParent.GetModuleInfos(type_infos)
+        # Initialize PDO data set
+        self.ClearDataSet()
+        
+        # if 'device' object is valid, call SavePDOData() to parse PDO data 
+        if device is not None :
+            self.SavePDOData(device)
+    
+    def SavePDOData(self, device):
+        """
+        Parse PDO data and store the results in TXPDOCategory and RXPDOCategory
+        Tx(Rx)PDOCategory : index, name, entry number
+        Tx(Rx)Info : entry index, sub index, name, length, type
+        @param device : Slave information extracted from ESI XML file
+        """ 
+        # Parsing TXPDO entries
+        for pdo, pdo_info in ([(pdo, "Inputs") for pdo in device.getTxPdo()]):
+            # Save pdo_index, entry, and name of each entry
+            pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent())
+            entries = pdo.getEntry()
+            pdo_name = ExtractName(pdo.getName())
+            
+            # Initialize entry number count
+            count = 0
+            
+            # Parse entries
+            for entry in entries:
+                # Save index and subindex
+                index = ExtractHexDecValue(entry.getIndex().getcontent())
+                subindex = ExtractHexDecValue(entry.getSubIndex())
+                # if entry name exists, save entry data
+                if ExtractName(entry.getName()) is not None :
+                    entry_infos = {
+                                "entry_index" : index,
+                                "subindex" : subindex,
+                                "name" : ExtractName(entry.getName()),
+                                "bitlen" : entry.getBitLen(),
+                                "type" : entry.getDataType().getcontent()
+                                    }
+                    self.TxPDOInfo.append(entry_infos)
+                    count += 1
+              
+            categorys = {"pdo_index" : pdo_index, "name" : pdo_name, "number_of_entry" : count}  
+            self.TxPDOCategory.append(categorys)
+
+        # Parsing RxPDO entries
+        for pdo, pdo_info in ([(pdo, "Outputs") for pdo in device.getRxPdo()]):
+            # Save pdo_index, entry, and name of each entry
+            pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent())
+            entries = pdo.getEntry()
+            pdo_name = ExtractName(pdo.getName())
+            
+            # Initialize entry number count
+            count = 0          
+
+            # Parse entries          
+            for entry in entries:
+                # Save index and subindex
+                index = ExtractHexDecValue(entry.getIndex().getcontent())
+                subindex = ExtractHexDecValue(entry.getSubIndex())
+                # if entry name exists, save entry data
+                if ExtractName(entry.getName()) is not None :
+                    entry_infos = {
+                                "entry_index" : index,
+                                "subindex" : subindex,
+                                "name" : ExtractName(entry.getName()),
+                                "bitlen" : str(entry.getBitLen()),
+                                "type" : entry.getDataType().getcontent()
+                                    }
+                    self.RxPDOInfo.append(entry_infos)
+                    count += 1
+    
+            categorys = {"pdo_index" : pdo_index, "name" : pdo_name, "number_of_entry" : count}  
+            self.RxPDOCategory.append(categorys) 
+
+    def GetTxPDOCategory(self):
+        """
+        Get TxPDOCategory data structure (Meta informaton of TxPDO).
+        TxPDOCategorys : index, name, number of entries
+        @return TxPDOCategorys
+        """ 
+        return self.TxPDOCategory
+        
+    def GetRxPDOCategory(self):
+        """
+        Get RxPDOCategory data structure (Meta information of RxPDO).
+        RxPDOCategorys : index, name, number of entries
+        @return RxPDOCategorys
+        """ 
+        return self.RxPDOCategory
+        
+    def GetTxPDOInfo(self):
+        """
+        Get TxPDOInfo data structure (Detailed information on TxPDO entries). 
+        TxPDOInfos : entry index, sub index, name, length, type
+        @return TxPDOInfos
+        """ 
+        return self.TxPDOInfo
+        
+    def GetRxPDOInfo(self):
+        """
+        Get RxPDOInfo data structure (Detailed information on RxPDO entries). 
+        RxPDOInfos : entry index, sub index, name, length, type
+        @return RxPDOInfos
+        """ 
+        return self.RxPDOInfo
+        
+    def ClearDataSet(self):
+        """
+        Initialize PDO management data structure.
+        """ 
+        self.TxPDOInfos = []
+        self.TxPDOCategorys = []
+        self.RxPDOInfos = []
+        self.RxPDOCategorys = []
+               
+    #-------------------------------------------------------------------------------
+    #                        Used EEPROM Management
+    #-------------------------------------------------------------------------------
+    # Base data types in ETG2000; format = {"Name": "BitSize"}
+    BaseDataTypeDict = {"BOOL": "01",
+                        "SINT": "02",
+                        "INT": "03",
+                        "DINT": "04",
+                        "USINT": "05",
+                        "UINT": "06",
+                        "UDINT": "07",
+                        "REAL": "08",
+                        "INT24": "10",
+                        "LREAL": "11",
+                        "INT40": "12",
+                        "INT48": "13",
+                        "INT56": "14",
+                        "LINT": "15",
+                        "UINT24": "16",
+                        "UINT40": "18",
+                        "UINT48": "19",
+                        "UINT56": "1a",
+                        "ULINT": "1b",
+                        "USINT": "1e",
+                        "BITARR8": "2d",
+                        "BITARR16": "2e",
+                        "BITARR32": "2f",
+                        "BIT1": "30",
+                        "BIT2": "31",
+                        "BIT3": "32",
+                        "BIT4": "33",
+                        "BIT5": "34",
+                        "BIT6": "35",
+                        "BIT7": "36",
+                        "BIT8": "37"}        
+        
+    def GetSmartViewInfos(self):
+        """
+        Parse XML data for "Smart View" of EEPROM contents.
+        @return smartview_infos : EEPROM contents dictionary
+        """ 
+
+        smartview_infos = {"eeprom_size": 128,
+                           "pdi_type": 0,
+                           "device_emulation": "False",
+                           "vendor_id": '0x00000000',
+                           "product_code": '0x00000000',
+                           "revision_no": '0x00000000',
+                           "serial_no": '0x00000000',
+                           "supported_mailbox": "",
+                           "mailbox_bootstrapconf_outstart": '0',
+                           "mailbox_bootstrapconf_outlength": '0',
+                           "mailbox_bootstrapconf_instart": '0',
+                           "mailbox_bootstrapconf_inlength": '0',
+                           "mailbox_standardconf_outstart": '0',
+                           "mailbox_standardconf_outlength": '0',
+                           "mailbox_standardconf_instart": '0',
+                           "mailbox_standardconf_inlength": '0'}
+        
+        slave = self.Controler.CTNParent.GetSlave(self.Controler.GetSlavePos())
+        type_infos = slave.getType()
+        device, alignment = self.Controler.CTNParent.GetModuleInfos(type_infos)
+
+        # 'device' represents current slave device selected by user
+        if device is not None:
+            for eeprom_element in device.getEeprom().getcontent():
+                # get EEPROM size; <Device>-<Eeprom>-<ByteSize>
+                if eeprom_element["name"] == "ByteSize":
+                    smartview_infos["eeprom_size"] = eeprom_element
+                        
+                elif eeprom_element["name"] == "ConfigData":
+                    configData_data = self.DecimalToHex(eeprom_element)
+                    # get PDI type; <Device>-<Eeprom>-<ConfigData> address 0x00
+                    smartview_infos["pdi_type"] = int(configData_data[0:2], 16)
+                    # get state of device emulation; <Device>-<Eeprom>-<ConfigData> address 0x01
+                    if "{:0>8b}".format(int(configData_data[2:4], 16))[7] == '1':
+                        smartview_infos["device_emulation"] = "True"
+
+                elif eeprom_element["name"] == "BootStrap":
+                    bootstrap_data = "{:0>16x}".format(eeprom_element)
+                    # get bootstrap configuration; <Device>-<Eeprom>-<BootStrap>
+                    for cfg, iter in [("mailbox_bootstrapconf_outstart", 0), 
+                                      ("mailbox_bootstrapconf_outlength", 1),
+                                      ("mailbox_bootstrapconf_instart", 2),
+                                      ("mailbox_bootstrapconf_inlength", 3)]:
+                        smartview_infos[cfg] = str(int(bootstrap_data[4*iter+2:4*(iter+1)]+bootstrap_data[4*iter:4*iter+2], 16))
+            
+            # get protocol (profile) types supported by mailbox; <Device>-<Mailbox>
+            mb = device.getMailbox()
+            if mb is not None:
+                for mailbox_protocol in mailbox_protocols:
+                    if getattr(mb,"get%s"%mailbox_protocol)() is not None:
+                        smartview_infos["supported_mailbox"] += "%s,  "%mailbox_protocol
+            smartview_infos["supported_mailbox"] = smartview_infos["supported_mailbox"].strip(",  ")
+                
+            # get standard configuration of mailbox; <Device>-<Sm>
+            for sm_element in device.getSm():
+                if sm_element.getcontent() == "MBoxOut":
+                    smartview_infos["mailbox_standardconf_outstart"] = str(ExtractHexDecValue(sm_element.getStartAddress()))
+                    smartview_infos["mailbox_standardconf_outlength"] = str(ExtractHexDecValue(sm_element.getDefaultSize()))
+                elif sm_element.getcontent() == "MBoxIn":
+                    smartview_infos["mailbox_standardconf_instart"] = str(ExtractHexDecValue(sm_element.getStartAddress()))
+                    smartview_infos["mailbox_standardconf_inlength"] = str(ExtractHexDecValue(sm_element.getDefaultSize()))
+                else:
+                    pass
+
+            # get device identity from <Device>-<Type>
+            #  vendor ID; by default, pre-defined value in self.ModulesLibrary
+            #             if device type in 'vendor' item equals to actual slave device type, set 'vendor_id' to vendor ID.
+            for vendor_id, vendor in self.Controler.CTNParent.CTNParent.ModulesLibrary.Library.iteritems():
+                for available_device in vendor["groups"][vendor["groups"].keys()[0]]["devices"]:
+                    if available_device[0] == type_infos["device_type"]:
+                        smartview_infos["vendor_id"] = "0x" + "{:0>8x}".format(vendor_id)
+                        
+            #  product code; 
+            if device.getType().getProductCode() is not None:
+                product_code = device.getType().getProductCode()
+                smartview_infos["product_code"] = "0x"+"{:0>8x}".format(ExtractHexDecValue(product_code))
+                
+            #  revision number; 
+            if device.getType().getRevisionNo() is not None:
+                revision_no = device.getType().getRevisionNo()
+                smartview_infos["revision_no"] = "0x"+"{:0>8x}".format(ExtractHexDecValue(revision_no))
+                
+            #  serial number;
+            if device.getType().getSerialNo() is not None:
+                serial_no = device.getType().getSerialNo()
+                smartview_infos["serial_no"] = "0x"+"{:0>8x}".format(ExtractHexDecValue(serial_no))
+                                            
+            return smartview_infos
+        
+        else:
+            return None
+        
+    def DecimalToHex(self, decnum):
+        """
+        Convert decimal value into hexadecimal representation. 
+        @param decnum : decimal value
+        @return hex_data : hexadecimal representation of input value in decimal
+        """ 
+        value = "%x" % decnum
+        value_len = len(value)
+        if (value_len % 2) == 0:
+            hex_len = value_len
+        else:
+            hex_len = (value_len / 2) * 2 + 2
+        
+        hex_data = ("{:0>"+str(hex_len)+"x}").format(decnum)
+        
+        return hex_data
+
+    def SiiRead(self):
+        """
+        Get slave EEPROM contents maintained by master device using "ethercat sii_read -p %d" command.
+        Command example : "ethercat sii_read -p 0"
+        @return return_val : result of "ethercat sii_read" (binary data)
+        """ 
+        error, return_val = self.Controler.RemoteExec(SII_READ%(self.Controler.GetSlavePos()), return_val = None)
+        self.SiiData = return_val
+        return return_val
+
+    def SiiWrite(self, binary):
+        """
+        Overwrite slave EEPROM contents using "ethercat sii_write -p %d" command.
+        Command example : "ethercat sii_write -p 0 - (binary contents)"
+        @param binary : EEPROM contents in binary data format
+        @return return_val : result of "ethercat sii_write" (If it succeeds, the return value is NULL.)
+        """ 
+        error, return_val = self.Controler.RemoteExec(SII_WRITE%(self.Controler.GetSlavePos()), return_val = None, sii_data = binary)
+        return return_val 
+
+    def LoadData(self):
+        """
+        Loading data from EEPROM use Sii_Read Method
+        @return self.BinaryCode : slave EEPROM data in binary format (zero-padded)
+        """ 
+        return_val = self.Controler.CommonMethod.SiiRead()
+        self.BinaryCode = return_val
+        self.Controler.SiiData = self.BinaryCode
+
+        # append zero-filled padding data up to EEPROM size
+        for index in range(self.SmartViewInfosFromXML["eeprom_size"] - len(self.BinaryCode)):
+            self.BinaryCode = self.BinaryCode +'ff'.decode('hex')
+              
+        return self.BinaryCode
+
+    def HexRead(self, binary):
+        """
+        Convert binary digit representation into hexadecimal representation for "Hex View" menu.
+        @param binary : binary digits
+        @return hexCode : hexadecimal digits
+        @return hexview_table_row, hexview_table_col : Grid size for "Hex View" UI
+        """ 
+        row_code = []
+        row_text = ""
+        row = 0
+        hex_code = []
+
+        hexview_table_col = 17
+        
+        for index in range(0, len(binary)) :
+            if len(binary[index]) != 1:
+                break
+            else:
+                digithexstr = hex(ord(binary[index])) 
+
+                tempvar2 = digithexstr[2:4]
+                if len(tempvar2) == 1:
+                    tempvar2 = "0" + tempvar2
+                row_code.append(tempvar2) 
+                
+                if int(digithexstr, 16)>=32 and int(digithexstr, 16)<=126:
+                    row_text = row_text + chr(int(digithexstr, 16))
+                else:
+                    row_text = row_text + "."
+                
+                if index != 0 : 
+                    if len(row_code) == (hexview_table_col - 1):
+                        row_code.append(row_text)
+                        hex_code.append(row_code)
+                        row_text = ""
+                        row_code = []
+                        row = row + 1        
+                                        
+        hexview_table_row = row
+        
+        return hex_code, hexview_table_row, hexview_table_col
+    
+    def GenerateEEPROMList(self, data, direction, length):
+        """
+        Generate EEPROM data list by reconstructing 'data' string.
+        example : data="12345678", direction=0, length=8 -> eeprom_list=['12', '34', '56', '78']
+                  data="12345678", direction=1, length=8 -> eeprom_list=['78', '56', '34', '12']
+        @param data : string to be reconstructed
+        @param direction : endianness
+        @param length : data length
+        @return eeprom_list : reconstructed list data structure
+        """ 
+        eeprom_list = []
+
+        if direction is 0 or 1:
+            for i in range(length/2):
+                if data == "":
+                    eeprom_list.append("00")
+                else:
+                    eeprom_list.append(data[direction*(length-2):direction*(length-2)+2])
+                data = data[(1-direction)*2:length-direction*2]
+                length -= 2
+        return eeprom_list
+    
+    def XmlToEeprom(self):
+        """
+        Extract slave EEPROM contents using slave ESI XML file.
+          - Mandatory parts
+          - String category : ExtractEEPROMStringCategory()
+          - General category : ExtractEEPROMGeneralCategory()
+          - FMMU category : ExtractEEPROMFMMUCategory
+          - SyncM category : ExtractEEPROMSyncMCategory()
+          - Tx/RxPDO category : ExtractEEPROMPDOCategory()
+          - DC category : ExtractEEPROMDCCategory()
+        @return eeprom_binary 
+        """ 
+        eeprom = []
+        data = ""
+        eeprom_size = 0
+        eeprom_binary = ""
+
+        # 'device' is the slave device of the current EtherCAT slave plugin
+        slave = self.Controler.CTNParent.GetSlave(self.Controler.GetSlavePos())
+        type_infos = slave.getType()
+        device, alignment = self.Controler.CTNParent.GetModuleInfos(type_infos)
+        
+        if device is not None:
+            # get ConfigData for EEPROM offset 0x0000-0x000d; <Device>-<Eeprom>-<ConfigData>
+            for eeprom_element in device.getEeprom().getcontent():
+                if eeprom_element["name"] == "ConfigData":
+                    data = self.DecimalToHex(eeprom_element)
+            eeprom += self.GenerateEEPROMList(data, 0, 28)
+            
+            # calculate CRC for EEPROM offset 0x000e-0x000f
+            crc = 0x48
+            for segment in eeprom:
+                for i in range(8):
+                    bit = crc & 0x80
+                    crc = (crc << 1) | ((int(segment, 16) >> (7 - i)) & 0x01)
+                    if bit:
+                        crc ^= 0x07   
+            for k in range(8):
+                bit = crc & 0x80
+                crc <<= 1
+                if bit:
+                    crc ^= 0x07      
+            eeprom.append(hex(crc)[len(hex(crc))-3:len(hex(crc))-1])
+            eeprom.append("00")
+            
+            # get VendorID for EEPROM offset 0x0010-0x0013;
+            data = ""
+            for vendor_id, vendor in self.Controler.CTNParent.CTNParent.ModulesLibrary.Library.iteritems():
+                for available_device in vendor["groups"][vendor["groups"].keys()[0]]["devices"]:
+                    if available_device[0] == type_infos["device_type"]:
+                        data = "{:0>8x}".format(vendor_id)
+            eeprom += self.GenerateEEPROMList(data, 1, 8)
+            
+            # get Product Code for EEPROM offset 0x0014-0x0017;
+            data = ""
+            if device.getType().getProductCode() is not None:
+                data = "{:0>8x}".format(ExtractHexDecValue(device.getType().getProductCode()))
+            eeprom += self.GenerateEEPROMList(data, 1, 8)
+            
+            # get Revision Number for EEPROM offset 0x0018-0x001b;
+            data = ""
+            if device.getType().getRevisionNo() is not None:
+                data = "{:0>8x}".format(ExtractHexDecValue(device.getType().getRevisionNo()))
+            eeprom += self.GenerateEEPROMList(data, 1, 8)  
+            
+            # get Serial Number for EEPROM 0x001c-0x001f;
+            data = ""
+            if device.getType().getSerialNo() is not None:
+                data = "{:0>8x}".format(ExtractHexDecValue(device.getType().getSerialNo()))
+            eeprom += self.GenerateEEPROMList(data, 1, 8)
+                
+            # get Execution Delay for EEPROM 0x0020-0x0021; not analyzed yet
+            eeprom.append("00")
+            eeprom.append("00")
+            
+            # get Port0/1 Delay for EEPROM offset 0x0022-0x0025; not analyzed yet
+            eeprom.append("00")
+            eeprom.append("00")
+            eeprom.append("00")
+            eeprom.append("00")
+            
+            # reserved for EEPROM offset 0x0026-0x0027;
+            eeprom.append("00")
+            eeprom.append("00")
+
+            # get BootStrap for EEPROM offset 0x0028-0x002e; <Device>-<Eeprom>-<BootStrap>
+            data = ""
+            for eeprom_element in device.getEeprom().getcontent():
+                if eeprom_element["name"] == "BootStrap":
+                    data = "{:0>16x}".format(eeprom_element)
+            eeprom += self.GenerateEEPROMList(data, 0, 16)
+            
+            # get Standard Mailbox for EEPROM offset 0x0030-0x0037; <Device>-<sm>
+            data = ""
+            standard_send_mailbox_offset = None
+            standard_send_mailbox_size = None
+            standard_receive_mailbox_offset = None
+            standard_receive_mailbox_size = None
+            for sm_element in device.getSm():
+                if sm_element.getcontent() == "MBoxOut":
+                    standard_receive_mailbox_offset = "{:0>4x}".format(ExtractHexDecValue(sm_element.getStartAddress()))
+                    standard_receive_mailbox_size = "{:0>4x}".format(ExtractHexDecValue(sm_element.getDefaultSize()))
+                elif sm_element.getcontent() == "MBoxIn":
+                    standard_send_mailbox_offset = "{:0>4x}".format(ExtractHexDecValue(sm_element.getStartAddress()))
+                    standard_send_mailbox_size = "{:0>4x}".format(ExtractHexDecValue(sm_element.getDefaultSize()))
+                    
+            if standard_receive_mailbox_offset is None:
+                eeprom.append("00")
+                eeprom.append("00")
+            else:
+                eeprom.append(standard_receive_mailbox_offset[2:4])
+                eeprom.append(standard_receive_mailbox_offset[0:2])
+            if standard_receive_mailbox_size is None:
+                eeprom.append("00")
+                eeprom.append("00")
+            else:
+                eeprom.append(standard_receive_mailbox_size[2:4])
+                eeprom.append(standard_receive_mailbox_size[0:2])
+            if standard_send_mailbox_offset is None:
+                eeprom.append("00")
+                eeprom.append("00")
+            else:
+                eeprom.append(standard_send_mailbox_offset[2:4])
+                eeprom.append(standard_send_mailbox_offset[0:2])
+            if standard_send_mailbox_size is None:
+                eeprom.append("00")
+                eeprom.append("00")
+            else:
+                eeprom.append(standard_send_mailbox_size[2:4])
+                eeprom.append(standard_send_mailbox_size[0:2])
+            
+            # get supported mailbox protocols for EEPROM offset 0x0038-0x0039;
+            data = 0
+            mb = device.getMailbox()
+            if mb is not None :
+                for bit,mbprot in enumerate(mailbox_protocols):
+                    if getattr(mb,"get%s"%mbprot)() is not None:
+                        data += 1<<bit
+            data = "{:0>4x}".format(data)
+            eeprom.append(data[2:4])
+            eeprom.append(data[0:2])
+            
+            # resereved for EEPROM offset 0x003a-0x007b;
+            for i in range(0x007b-0x003a+0x0001):
+                eeprom.append("00")
+            
+            # get EEPROM size for EEPROM offset 0x007c-0x007d;
+            data = ""
+            for eeprom_element in device.getEeprom().getcontent():
+                if eeprom_element["name"] == "ByteSize":
+                    eeprom_size = int(str(eeprom_element))
+                    data = "{:0>4x}".format(int(eeprom_element)/1024*8-1)
+
+            if data == "":
+                eeprom.append("00")
+                eeprom.append("00")
+            else:
+                eeprom.append(data[2:4])
+                eeprom.append(data[0:2])
+                
+            # Version for EEPROM 0x007e-0x007f; 
+            #  According to "EtherCAT Slave Device Description(V0.3.0)"
+            eeprom.append("01")
+            eeprom.append("00")
+            
+            # append String Category data
+            for data in self.ExtractEEPROMStringCategory(device):
+                eeprom.append(data)
+                
+            # append General Category data
+            for data in self.ExtractEEPROMGeneralCategory(device):
+                eeprom.append(data)
+                
+            # append FMMU Category data
+            for data in self.ExtractEEPROMFMMUCategory(device):
+                eeprom.append(data)
+            
+            # append SyncM Category data
+            for data in self.ExtractEEPROMSyncMCategory(device):
+                eeprom.append(data)
+                
+            # append TxPDO Category data
+            for data in self.ExtractEEPROMPDOCategory(device, "TxPdo"):
+                eeprom.append(data)
+                
+            # append RxPDO Category data
+            for data in self.ExtractEEPROMPDOCategory(device, "RxPdo"):
+                eeprom.append(data)
+                
+            # append DC Category data
+            for data in self.ExtractEEPROMDCCategory(device):
+                eeprom.append(data)
+            
+            # append padding
+            padding = eeprom_size-len(eeprom)
+            for i in range(padding):
+                eeprom.append("ff")
+            
+            # convert binary code
+            for index in range(eeprom_size):
+                eeprom_binary = eeprom_binary + eeprom[index].decode('hex')
+            
+            return eeprom_binary
+    
+    def ExtractEEPROMStringCategory(self, device):
+        """
+        Extract "Strings" category data from slave ESI XML and generate EEPROM image data.
+        @param device : 'device' object in the slave ESI XML
+        @return eeprom : "Strings" category EEPROM image data
+        """ 
+        eeprom = []
+        self.Strings = []
+        data = "" 
+        count = 0 # string counter
+        padflag = False # padding flag if category length is odd
+        
+        # index information for General Category in EEPROM
+        self.GroupIdx = 0
+        self.ImgIdx = 0
+        self.OrderIdx = 0
+        self.NameIdx = 0
+        
+        # flag for preventing duplicated vendor specific data 
+        typeflag = False
+        grouptypeflag = False
+        groupnameflag = False
+        devnameflag = False
+        imageflag = False
+        
+        # vendor specific data
+        #   element1; <EtherCATInfo>-<Descriptions>-<Devices>-<Device>-<Type>
+        #   vendor_specific_data : vendor specific data (binary type)
+        vendor_specific_data = ""
+        #   vendor_spec_strings : list of vendor specific "strings" for preventing duplicated strings
+        vendor_spec_strings = []
+        for element in device.getType().getcontent():
+            data += element
+        if data is not "" and type(data) == unicode:
+            for vendor_spec_string in vendor_spec_strings: 
+                if data == vendor_spec_string:
+                    self.OrderIdx = vendor_spec_strings.index(data)+1
+                    typeflag = True
+                    break
+            if typeflag is False:
+                count += 1
+                self.Strings.append(data)
+                vendor_spec_strings.append(data)
+                typeflag = True
+                self.OrderIdx = count
+                vendor_specific_data += "{:0>2x}".format(len(data))
+                for character in range(len(data)):
+                    vendor_specific_data += "{:0>2x}".format(ord(data[character]))
+        data = ""
+        
+        #  element2-1; <EtherCATInfo>-<Descriptions>-<Devices>-<Device>-<GroupType>
+        data = device.getGroupType()
+        if data is not None and type(data) == unicode:
+            for vendor_spec_string in vendor_spec_strings:
+                if data == vendor_spec_string:
+                    self.GroupIdx = vendor_spec_strings.index(data)+1
+                    grouptypeflag = True
+                    break
+            if grouptypeflag is False:
+                grouptype = data
+                count += 1
+                self.Strings.append(data)
+                vendor_spec_strings.append(data)
+                grouptypeflag = True
+                self.GroupIdx = count
+                vendor_specific_data += "{:0>2x}".format(len(data))
+                for character in range(len(data)):
+                    vendor_specific_data += "{:0>2x}".format(ord(data[character]))
+        
+        #  element2-2; <EtherCATInfo>-<Groups>-<Group>-<Type>            
+        if grouptypeflag is False: 
+            if self.Controler.CTNParent.CTNParent.ModulesLibrary.Library is not None:
+                for vendor_id, vendor in self.Controler.CTNParent.CTNParent.ModulesLibrary.Library.iteritems():
+                    for group_type, group_etc in vendor["groups"].iteritems():
+                        for device_item in group_etc["devices"]:
+                            if device == device_item[1]: 
+                                data = group_type
+                if data is not None and type(data) == unicode:
+                    for vendor_spec_string in vendor_spec_strings:
+                        if data == vendor_spec_string:
+                            self.GroupIdx = vendor_spec_strings.index(data)+1
+                            grouptypeflag = True
+                            break
+                    if grouptypeflag is False:
+                        grouptype = data
+                        count += 1
+                        self.Strings.append(data)
+                        vendor_spec_strings.append(data)
+                        grouptypeflag = True
+                        self.GroupIdx = count
+                        vendor_specific_data += "{:0>2x}".format(len(data))
+                        for character in range(len(data)):
+                            vendor_specific_data += "{:0>2x}".format(ord(data[character]))
+        data = ""
+        
+        #  element3; <EtherCATInfo>-<Descriptions>-<Groups>-<Group>-<Name(LcId is "1033")>
+        if self.Controler.CTNParent.CTNParent.ModulesLibrary.Library is not None:
+            for vendorId, vendor in self.Controler.CTNParent.CTNParent.ModulesLibrary.Library.iteritems():
+                for group_type, group_etc in vendor["groups"].iteritems():
+                    for device_item in group_etc["devices"]:
+                        if device == device_item[1]:
+                            data = group_etc["name"]
+        if data is not "" and type(data) == unicode:
+            for vendor_spec_string in vendor_spec_strings:
+                if data == vendor_spec_string:
+                    groupnameflag = True
+                    break
+            if groupnameflag is False:
+                count += 1
+                self.Strings.append(data)
+                vendor_spec_strings.append(data)
+                groupnameflag = True
+                vendor_specific_data += "{:0>2x}".format(len(data))
+                for character in range(len(data)):
+                    vendor_specific_data += "{:0>2x}".format(ord(data[character]))
+        data = ""
+        
+        #  element4; <EtherCATInfo>-<Descriptions>-<Devices>-<Device>-<Name(LcId is "1033" or "1"?)>
+        for element in device.getName():
+            if element.getLcId() == 1 or element.getLcId()==1033:
+                data = element.getcontent()
+        if data is not "" and type(data) == unicode:
+            for vendor_spec_string in vendor_spec_strings:
+                if data == vendor_spec_string:
+                    self.NameIdx = vendor_spec_strings.index(data)+1
+                    devnameflag = True
+                    break
+            if devnameflag is False:
+                count += 1
+                self.Strings.append(data)
+                vendor_spec_strings.append(data)
+                devnameflag = True
+                self.NameIdx = count
+                vendor_specific_data += "{:0>2x}".format(len(data))
+                for character in range(len(data)):
+                    vendor_specific_data += "{:0>2x}".format(ord(data[character]))
+        data = ""
+        
+        #  element5-1; <EtherCATInfo>-<Descriptions>-<Devices>-<Device>-<Image16x14>
+        if device.getcontent() is not None:
+            data = device.getcontent()
+            if data is not None and type(data) == unicode:
+                for vendor_spec_string in vendor_spec_strings:
+                    if data == vendor_spec_string:
+                        self.ImgIdx = vendor_spec_strings.index(data)+1
+                        imageflag = True
+                        break
+                if imageflag is False:
+                    count += 1
+                    self.Strings.append(data)
+                    vendor_spec_strings.append(data)
+                    imageflag = True
+                    self.ImgIdx = count
+                    vendor_specific_data += "{:0>2x}".format(len(data))
+                    for character in range(len(data)):
+                        vendor_specific_data += "{:0>2x}".format(ord(data[character]))
+                        
+        #  element5-2; <EtherCATInfo>-<Descriptions>-<Groups>-<Group>-<Image16x14>
+        if imageflag is False:
+            if self.Controler.CTNParent.CTNParent.ModulesLibrary.Library is not None:
+                for vendor_id, vendor in self.Controler.CTNParent.CTNParent.ModulesLibrary.Library.iteritems():
+                    for group_type, group_etc in vendor["groups"].iteritems():
+                        for device_item in group_etc["devices"]:
+                            if device == device_item[1]:
+                                data = group_etc
+                if data is not None and type(data) == unicode:
+                    for vendor_spec_string in vendor_spec_strings:
+                        if data == vendor_spec_string:
+                            self.ImgIdx = vendor_spec_strings.index(data)+1
+                            imageflag = True
+                            break
+                    if imageflag is False:
+                        count += 1
+                        self.Strings.append(data)
+                        vendor_spec_strings.append(data)
+                        imageflag = True
+                        self.ImgIdx = count
+                        vendor_specific_data += "{:0>2x}".format(len(data))
+                        for character in range(len(data)):
+                            vendor_specific_data += "{:0>2x}".format(ord(data[character]))
+        data = ""
+        
+        # DC related elements
+        #  <EtherCATInfo>-<Descriptions>-<Devices>-<Device>-<Dc>-<OpMode>-<Name>
+        dc_related_elements = ""
+        if device.getDc() is not None:
+            for element in device.getDc().getOpMode():
+                data = element.getName()
+                if data is not "":
+                    count += 1
+                    self.Strings.append(data)
+                    dc_related_elements += "{:0>2x}".format(len(data))
+                    for character in range(len(data)):
+                        dc_related_elements += "{:0>2x}".format(ord(data[character]))
+                    data = ""
+        
+        # Input elements(TxPDO)
+        #  <EtherCATInfo>-<Descriptions>-<Devices>-<Device>-<TxPdo>; Name
+        input_elements = ""
+        inputs = []
+        for element in device.getTxPdo():
+            for name in element.getName():
+                data = name.getcontent()
+            for input in inputs:
+                if data == input: 
+                    data = ""
+            if data is not "":
+                count += 1
+                self.Strings.append(data)
+                inputs.append(data)
+                input_elements += "{:0>2x}".format(len(data))
+                for character in range(len(data)):
+                    input_elements += "{:0>2x}".format(ord(data[character]))
+                data = ""            
+            for entry in element.getEntry():
+                for name in entry.getName():
+                    data = name.getcontent()
+                for input in inputs:
+                    if data == input: 
+                        data = ""
+                if data is not "":
+                    count += 1
+                    self.Strings.append(data)
+                    inputs.append(data)
+                    input_elements += "{:0>2x}".format(len(data))
+                    for character in range(len(data)):
+                        input_elements += "{:0>2x}".format(ord(data[character]))
+                    data = ""
+        
+        # Output elements(RxPDO)
+        #  <EtherCATInfo>-<Descriptions>-<Devices>-<Device>-<RxPdo>; Name
+        output_elements = ""
+        outputs = []
+        for element in device.getRxPdo():
+            for name in element.getName():
+                data = name.getcontent()
+            for output in outputs:
+                if data == output: 
+                    data = ""
+            if data is not "":
+                count += 1
+                self.Strings.append(data)
+                outputs.append(data)
+                output_elements += "{:0>2x}".format(len(data))
+                for character in range(len(data)):
+                    output_elements += "{:0>2x}".format(ord(data[character]))
+                data = ""            
+            for entry in element.getEntry():
+                for name in entry.getName():
+                    data = name.getcontent()
+                for output in outputs:
+                    if data == output: 
+                        data = ""
+                if data is not "":
+                    count += 1
+                    self.Strings.append(data)
+                    outputs.append(data)
+                    output_elements += "{:0>2x}".format(len(data))
+                    for character in range(len(data)):
+                        output_elements += "{:0>2x}".format(ord(data[character]))
+                    data = ""     
+        
+        # form eeprom data
+        #  category header
+        eeprom.append("0a")
+        eeprom.append("00")
+        #  category length (word); 1 word is 4 bytes. "+2" is the length of string's total number
+        length = len(vendor_specific_data + dc_related_elements + input_elements + output_elements) + 2
+        if length%4 == 0:
+            pass
+        else:
+            length +=length%4
+            padflag = True
+        eeprom.append("{:0>4x}".format(length/4)[2:4])
+        eeprom.append("{:0>4x}".format(length/4)[0:2])
+        #  total numbers of strings
+        eeprom.append("{:0>2x}".format(count))
+        for element in [vendor_specific_data,
+                        dc_related_elements,
+                        input_elements,
+                        output_elements]:
+            for iter in range(len(element)/2):
+                if element == "":
+                    eeprom.append("00")
+                else:
+                    eeprom.append(element[0:2])
+                element = element[2:len(element)]     
+        # padding if length is odd bytes 
+        if padflag is True:
+            eeprom.append("ff")
+        
+        return eeprom
+    
+    def ExtractEEPROMGeneralCategory(self, device):
+        """
+        Extract "General" category data from slave ESI XML and generate EEPROM image data.
+        @param device : 'device' object in the slave ESI XML
+        @return eeprom : "Strings" category EEPROM image data
+        """ 
+        eeprom = []
+        data = ""
+        
+        # category header
+        eeprom.append("1e")
+        eeprom.append("00")
+        
+        # category length
+        eeprom.append("10")
+        eeprom.append("00")
+        
+        # word 1 : Group Type index and Image index in STRINGS Category
+        eeprom.append("{:0>2x}".format(self.GroupIdx))
+        eeprom.append("{:0>2x}".format(self.ImgIdx))
+        
+        # word 2 : Device Type index and Device Name index in STRINGS Category
+        eeprom.append("{:0>2x}".format(self.OrderIdx))
+        eeprom.append("{:0>2x}".format(self.NameIdx))
+        
+        # word 3 : Physical Layer Port info. and CoE Details
+        eeprom.append("01") # Physical Layer Port info - assume 01
+        #  CoE Details; <EtherCATInfo>-<Descriptions>-<Devices>-<Device>-<Mailbox>-<CoE>
+        coe_details = 0
+        mb = device.getMailbox()
+        coe_details = 1 # sdo enabled
+        if mb is not None :
+            coe = mb.getCoE()
+            if coe is not None:
+                for bit,flag in enumerate(["SdoInfo", "PdoAssign", "PdoConfig", 
+                                           "PdoUpload", "CompleteAccess"]):
+                    if getattr(coe,"get%s"%flag)() is not None:
+                        coe_details += 1<<bit        
+        eeprom.append("{:0>2x}".format(coe_details))
+        
+        # word 4 : FoE Details and EoE Details
+        #  FoE Details; <EtherCATInfo>-<Descriptions>-<Devices>-<Device>-<Mailbox>-<FoE>
+        if mb is not None and mb.getFoE() is not None:
+            eeprom.append("01")
+        else:
+            eeprom.append("00")
+        #  EoE Details; <EtherCATInfo>-<Descriptions>-<Devices>-<Device>-<Mailbox>-<EoE>
+        if mb is not None and mb.getEoE() is not None:
+            eeprom.append("01")
+        else:
+            eeprom.append("00")
+            
+        # word 5 : SoE Channels(reserved) and DS402 Channels
+        #  SoE Details; <EtherCATInfo>-<Descriptions>-<Devices>-<Device>-<Mailbox>-<SoE>
+        if mb is not None and mb.getSoE() is not None:
+            eeprom.append("01")
+        else:
+            eeprom.append("00")
+        #  DS402Channels; <EtherCATInfo>-<Descriptions>-<Devices>-<Device>-<Mailbox>-<CoE>: DS402Channels
+        ds402ch = False
+        if mb is not None :
+            coe = mb.getCoE()
+            if coe is not None :
+                ds402ch = coe.getDS402Channels()
+        eeprom.append("01" if ds402ch in [True,1] else "00")
+            
+        # word 6 : SysmanClass(reserved) and Flags
+        eeprom.append("00") # reserved
+        #  Flags 
+        en_safeop = False
+        en_lrw = False
+        if device.getType().getTcCfgModeSafeOp() == True \
+        or device.getType().getTcCfgModeSafeOp() == 1:
+            en_safeop = True
+        if device.getType().getUseLrdLwr() == True \
+        or device.getType().getUseLrdLwr() == 1:
+            en_lrw = True
+        
+        flags = "0b"+"000000"+str(int(en_lrw))+str(int(en_safeop))
+        eeprom.append("{:0>2x}".format(int(flags, 2)))
+            
+        # word 7 : Current On EBus (assume 0x0000)
+        eeprom.append("00")
+        eeprom.append("00")
+        # after word 7; couldn't analyze yet
+        eeprom.append("03")
+        eeprom.append("00")
+        eeprom.append("11")
+        eeprom.append("00")
+        eeprom.append("00")
+        eeprom.append("00")
+        eeprom.append("00")
+        eeprom.append("00")
+        eeprom.append("00")
+        eeprom.append("00")
+        eeprom.append("00")
+        eeprom.append("00")
+        eeprom.append("00")
+        eeprom.append("00")
+        eeprom.append("00")
+        eeprom.append("00")
+        eeprom.append("00")
+        eeprom.append("00")
+        
+        return eeprom
+    
+    def ExtractEEPROMFMMUCategory(self, device):
+        """
+        Extract "FMMU" category data from slave ESI XML and generate EEPROM image data.
+        @param device : 'device' object in the slave ESI XML
+        @return eeprom : "Strings" category EEPROM image data
+        """ 
+        eeprom = []
+        data = ""
+        count = 0 # number of FMMU
+        padflag = False
+        
+        for fmmu in device.getFmmu():
+            count += 1
+            if fmmu.getcontent() == "Outputs":
+                data += "01"
+            if fmmu.getcontent() == "Inputs":
+                data += "02"
+            if fmmu.getcontent() == "MBoxState":
+                data += "03"
+        
+        # construct of EEPROM data
+        if data is not "":
+            #  category header
+            eeprom.append("28")
+            eeprom.append("00")
+            #  category length
+            if count%2 == 1:
+                padflag = True
+                eeprom.append("{:0>4x}".format((count+1)/2)[2:4])
+                eeprom.append("{:0>4x}".format((count+1)/2)[0:2])
+            else: 
+                eeprom.append("{:0>4x}".format((count)/2)[2:4])
+                eeprom.append("{:0>4x}".format((count)/2)[0:2])
+            for i in range(count):
+                if data == "":
+                    eeprom.append("00")
+                else:
+                    eeprom.append(data[0:2])
+                data = data[2:len(data)]
+            #  padding if length is odd bytes 
+            if padflag is True:
+                eeprom.append("ff")       
+            
+        return eeprom
+    
+    def ExtractEEPROMSyncMCategory(self, device):
+        """
+        Extract "SyncM" category data from slave ESI XML and generate EEPROM image data.
+        @param device : 'device' object in the slave ESI XML
+        @return eeprom : "Strings" category EEPROM image data
+        """ 
+        eeprom = []
+        data = ""
+        number = {"MBoxOut":"01", "MBoxIn":"02", "Outputs":"03", "Inputs":"04"}
+        
+        for sm in device.getSm():
+            for attr in [sm.getStartAddress(),
+                         sm.getDefaultSize(),
+                         sm.getControlByte()]:
+                if attr is not None:
+                    data += "{:0>4x}".format(ExtractHexDecValue(attr))[2:4]
+                    data += "{:0>4x}".format(ExtractHexDecValue(attr))[0:2]
+                else:
+                    data += "0000"  
+            if sm.getEnable() == "1" or sm.getEnable() == True:
+                data += "01"
+            else:
+                data += "00"
+            data += number[sm.getcontent()]
+            
+        if data is not "":
+            #  category header
+            eeprom.append("29")
+            eeprom.append("00")
+            #  category length 
+            eeprom.append("{:0>4x}".format(len(data)/4)[2:4])
+            eeprom.append("{:0>4x}".format(len(data)/4)[0:2])
+            for i in range(len(data)/2):
+                if data == "":
+                    eeprom.append("00")
+                else:
+                    eeprom.append(data[0:2])
+                data = data[2:len(data)]
+
+        return eeprom
+    
+    def ExtractEEPROMPDOCategory(self, device, pdotype):
+        """
+        Extract ""PDO (Tx, Rx)"" category data from slave ESI XML and generate EEPROM image data.
+        @param device : 'device' object in the slave ESI XML
+        @param pdotype : identifier whether "TxPDO" or "RxPDO".
+        @return eeprom : "Strings" category EEPROM image data
+        """ 
+        eeprom = []
+        data = ""
+        count = 0
+        en_fixed = False
+        en_mandatory = False
+        en_virtual = False
+        
+        for element in eval("device.get%s()"%pdotype):
+            #  PDO Index
+            data += "{:0>4x}".format(ExtractHexDecValue(element.getIndex().getcontent()))[2:4]
+            data += "{:0>4x}".format(ExtractHexDecValue(element.getIndex().getcontent()))[0:2]
+            #  Number of Entries
+            data += "{:0>2x}".format(len(element.getEntry()))
+            #  About Sync Manager
+            if element.getSm() is not None:
+                data += "{:0>2x}".format(element.getSm())
+            else:
+                data += "ff"
+            #  Reference to DC Synch (according to ET1100 documentation) - assume 0
+            data += "00"
+            #  Name Index
+            objname = ""
+            for name in element.getName():
+                objname = name.getcontent()
+            for name in self.Strings:
+                count += 1
+                if objname == name:
+                    break
+            if len(self.Strings)+1 == count:
+                data += "00"
+            else:
+                data += "{:0>2x}".format(count)
+            count = 0
+            #  Flags; by Fixed, Mandatory, Virtual attributes ?
+            if element.getFixed() == True or 1:
+                en_fixed = True
+            if element.getMandatory() == True or 1:
+                en_mandatory = True
+            if element.getVirtual() == True or element.getVirtual():
+                en_virtual = True
+            data += str(int(en_fixed)) + str(int(en_mandatory)) + str(int(en_virtual)) + "0"
+            
+            for entry in element.getEntry():
+                #   Entry Index
+                data += "{:0>4x}".format(ExtractHexDecValue(entry.getIndex().getcontent()))[2:4]
+                data += "{:0>4x}".format(ExtractHexDecValue(entry.getIndex().getcontent()))[0:2]
+                #   Subindex
+                data += "{:0>2x}".format(int(entry.getSubIndex()))
+                #   Entry Name Index
+                objname = ""
+                for name in entry.getName():
+                    objname = name.getcontent()
+                for name in self.Strings:
+                    count += 1
+                    if objname == name:
+                        break
+                if len(self.Strings)+1 == count:
+                    data += "00"
+                else:
+                    data += "{:0>2x}".format(count)
+                count = 0
+                #   DataType
+                if entry.getDataType() is not None:
+                    if entry.getDataType().getcontent() in self.BaseDataTypeDict:
+                        data += self.BaseDataTypeDict[entry.getDataType().getcontent()]
+                    else:
+                        data += "00"
+                else:
+                    data += "00"
+                #   BitLen
+                if entry.getBitLen() is not None:
+                    data += "{:0>2x}".format(int(entry.getBitLen()))
+                else:
+                    data += "00"
+                #   Flags; by Fixed attributes ?
+                en_fixed = False
+                if entry.getFixed() == True or entry.getFixed() == 1:
+                    en_fixed = True
+                data += str(int(en_fixed)) + "000"
+        
+        if data is not "":
+            #  category header
+            if pdotype == "TxPdo":
+                eeprom.append("32")
+            elif pdotype == "RxPdo":
+                eeprom.append("33")
+            else:
+                eeprom.append("00")
+            eeprom.append("00")
+            #  category length 
+            eeprom.append("{:0>4x}".format(len(data)/4)[2:4])
+            eeprom.append("{:0>4x}".format(len(data)/4)[0:2])
+            data = str(data.lower())
+            for i in range(len(data)/2):
+                if data == "":
+                    eeprom.append("00")
+                else:
+                    eeprom.append(data[0:2])
+                data = data[2:len(data)]
+        
+        return eeprom
+    
+    def ExtractEEPROMDCCategory(self, device):
+        """
+        Extract "DC(Distributed Clock)" category data from slave ESI XML and generate EEPROM image data.
+        @param device : 'device' object in the slave ESI XML
+        @return eeprom : "Strings" category EEPROM image data
+        """ 
+        eeprom = []
+        data = ""
+        count = 0
+        namecount = 0
+        
+        if device.getDc() is not None:
+            for element in device.getDc().getOpMode():
+                count += 1
+                #  assume that word 1-7 are 0x0000
+                data += "0000"
+                data += "0000"
+                data += "0000"
+                data += "0000"
+                data += "0000"
+                data += "0000"
+                data += "0000"
+                #  word 8-10
+                #  AssignActivate
+                if element.getAssignActivate() is not None:
+                    data += "{:0>4x}".format(ExtractHexDecValue(element.getAssignActivate()))[2:4]
+                    data += "{:0>4x}".format(ExtractHexDecValue(element.getAssignActivate()))[0:2]
+                else:
+                    data += "0000"
+                #  Factor of CycleTimeSync0 ? and default is 1?
+                if element.getCycleTimeSync0() is not None:
+                    if element.getCycleTimeSync0().getFactor() is not None:
+                        data += "{:0>2x}".format(int(element.getCycleTimeSync0().getFactor()))
+                        data += "00"
+                    else:
+                        data += "0100"
+                else:
+                    data += "0100"
+                #  Index of Name in STRINGS Category
+                #  Name Index
+                objname = ""
+                for name in element.getName():
+                    objname += name
+                for name in self.Strings:
+                    namecount += 1
+                    if objname == name:
+                        break
+                if len(self.Strings)+1 == namecount:
+                    data += "00"
+                else:
+                    data += "{:0>2x}".format(namecount)
+                namecount = 0
+                data += "00"
+                #  assume that word 11-12 are 0x0000
+                data += "0000"
+                data += "0000"
+                
+        if data is not "":
+            #  category header
+            eeprom.append("3c")
+            eeprom.append("00")
+            #  category length 
+            eeprom.append("{:0>4x}".format(len(data)/4)[2:4])
+            eeprom.append("{:0>4x}".format(len(data)/4)[0:2])
+            data = str(data.lower())
+            for i in range(len(data)/2):
+                if data == "":
+                    eeprom.append("00")
+                else:
+                    eeprom.append(data[0:2])
+                data = data[2:len(data)]
+    
+        return eeprom
+    
+    #-------------------------------------------------------------------------------
+    #                        Used Register Access
+    #-------------------------------------------------------------------------------
+    def RegRead(self, offset, length):
+        """
+        Read slave ESC register content using "ethercat reg_read -p %d %s %s" command.
+        Command example : "ethercat reg_read -p 0 0x0c00 0x0400"
+        @param offset : register address
+        @param length : register length
+        @return return_val : register data
+        """ 
+        error, return_val = self.Controler.RemoteExec(REG_READ%(self.Controler.GetSlavePos(), offset, length), return_val = None)
+        return return_val   
+    
+    def RegWrite(self, address, data):
+        """
+        Write data to slave ESC register using "ethercat reg_write -p %d %s %s" command.
+        Command example : "ethercat reg_write -p 0 0x0c04 0x0001"
+        @param address : register address
+        @param data : data to write
+        @return return_val : the execution result of "ethercat reg_write" (for error check)
+        """ 
+        error, return_val = self.Controler.RemoteExec(REG_WRITE%(self.Controler.GetSlavePos(), address, data), return_val = None)
+        return return_val 
+    
+    def Rescan(self):
+        """
+        Synchronize EEPROM data in master controller with the data in slave device after EEPROM write.
+        Command example : "ethercat rescan -p 0"
+        """ 
+        error, return_val = self.Controler.RemoteExec(RESCAN%(self.Controler.GetSlavePos()), return_val = None)
+    
+    #-------------------------------------------------------------------------------
+    #                        Common Use Methods
+    #-------------------------------------------------------------------------------
+    def CheckConnect(self, cyclic_flag):
+        """
+        Check connection status (1) between Beremiz and the master (2) between the master and the slave. 
+        @param cyclic_flag: 0 - one shot, 1 - periodic
+        @return True or False
+        """ 
+        if self.Controler.GetCTRoot()._connector is not None:
+            # Check connection between the master and the slave. 
+            # Command example : "ethercat xml -p 0"
+            error, return_val = self.Controler.RemoteExec(SLAVE_XML%(self.Controler.GetSlavePos()), return_val = None)
+            number_of_lines = return_val.split("\n")
+            if len(number_of_lines) <= 2 :  # No slave connected to the master controller
+                if not cyclic_flag :
+                    self.CreateErrorDialog('No connected slaves')
+                return False
+        
+            elif len(number_of_lines) > 2 :
+                return True
+        else:                               
+            # The master controller is not connected to Beremiz host
+            if not cyclic_flag :
+                self.CreateErrorDialog('PLC not connected!')
+            return False
+        
+    def CreateErrorDialog(self, mention):
+        """
+        Create a dialog to indicate error or warning.
+        @param mention : Error String
+        """ 
+        app_frame = self.Controler.GetCTRoot().AppFrame
+        dlg = wx.MessageDialog (app_frame, mention, 
+                                ' Warning...', 
+                                wx.OK | wx.ICON_INFORMATION)
+        dlg.ShowModal()
+        dlg.Destroy()             
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/etherlab/ConfigEditor.py	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,1404 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+# This file is part of Beremiz
+#
+# Copyright (C) 2011-2014: Laurent BESSARD, Edouard TISSERANT
+#                          RTES Lab : CRKim, JBLee, youcu
+#                          Higen Motor : Donggu Kang
+#
+# See COPYING file for copyrights details.
+
+import os
+import re
+from types import TupleType
+
+import wx
+import wx.grid
+import wx.gizmos
+import wx.lib.buttons
+
+from plcopen.structures import IEC_KEYWORDS, TestIdentifier
+from controls import CustomGrid, CustomTable, FolderTree
+from editors.ConfTreeNodeEditor import ConfTreeNodeEditor, SCROLLBAR_UNIT
+from util.BitmapLibrary import GetBitmap
+from controls.CustomStyledTextCtrl import NAVIGATION_KEYS
+
+# -----------------------------------------------------------------------
+from EtherCATManagementEditor import EtherCATManagementTreebook, MasterStatePanelClass
+# -----------------------------------------------------------------------
+
+[ETHERCAT_VENDOR, ETHERCAT_GROUP, ETHERCAT_DEVICE] = range(3)
+
+def AppendMenu(parent, help, id, kind, text):
+    if wx.VERSION >= (2, 6, 0):
+        parent.Append(help=help, id=id, kind=kind, text=text)
+    else:
+        parent.Append(helpString=help, id=id, kind=kind, item=text)
+
+def GetVariablesTableColnames(position=False):
+    _ = lambda x : x
+    colname = ["#"]
+    if position:
+        colname.append(_("Position"))
+    return colname + [_("Name"), _("Index"), _("SubIndex"), _("Type"), _("Access")]
+
+ACCESS_TYPES = {
+    'ro': 'R',
+    'wo': 'W',
+    'rw': 'R/W'}
+
+def GetAccessValue(access, pdo_mapping):
+    value = "SDO: %s" % ACCESS_TYPES.get(access, "")
+    if pdo_mapping != "":
+        value += ", PDO: %s" % pdo_mapping
+    return value
+
+VARIABLES_FILTERS = [
+    (_("All"), (0x0000, 0xffff)),
+    (_("Communication Parameters"), (0x1000, 0x1fff)),
+    (_("Manufacturer Specific"), (0x2000, 0x5fff)),
+    (_("Standardized Device Profile"), (0x6000, 0x9fff))]
+
+VARIABLE_INDEX_FILTER_FORMAT = _("Variable Index: #x%4.4X")
+
+ETHERCAT_INDEX_MODEL = re.compile("#x([0-9a-fA-F]{0,4})$")
+ETHERCAT_SUBINDEX_MODEL = re.compile("#x([0-9a-fA-F]{0,2})$")
+LOCATION_MODEL = re.compile("(?:%[IQM](?:[XBWLD]?([0-9]+(?:\.[0-9]+)*)))$")
+
+class NodeVariablesSizer(wx.FlexGridSizer):
+    
+    def __init__(self, parent, controler, position_column=False):
+        wx.FlexGridSizer.__init__(self, cols=1, hgap=0, rows=2, vgap=5)
+        self.AddGrowableCol(0)
+        self.AddGrowableRow(1)
+        
+        self.Controler = controler
+        self.PositionColumn = position_column
+        
+        self.VariablesFilter = wx.ComboBox(parent, style=wx.TE_PROCESS_ENTER)
+        self.VariablesFilter.Bind(wx.EVT_COMBOBOX, self.OnVariablesFilterChanged)
+        self.VariablesFilter.Bind(wx.EVT_TEXT_ENTER, self.OnVariablesFilterChanged)
+        self.VariablesFilter.Bind(wx.EVT_CHAR, self.OnVariablesFilterKeyDown)
+        self.AddWindow(self.VariablesFilter, flag=wx.GROW)
+        
+        self.VariablesGrid = wx.gizmos.TreeListCtrl(parent, 
+                style=wx.TR_DEFAULT_STYLE |
+                      wx.TR_ROW_LINES |
+                      wx.TR_COLUMN_LINES |
+                      wx.TR_HIDE_ROOT |
+                      wx.TR_FULL_ROW_HIGHLIGHT)
+        self.VariablesGrid.GetMainWindow().Bind(wx.EVT_LEFT_DOWN,
+            self.OnVariablesGridLeftClick)
+        self.AddWindow(self.VariablesGrid, flag=wx.GROW)
+        
+        self.Filters = []
+        for desc, value in VARIABLES_FILTERS:
+            self.VariablesFilter.Append(desc)
+            self.Filters.append(value)
+        
+        self.VariablesFilter.SetSelection(0)
+        self.CurrentFilter = self.Filters[0]
+        self.VariablesFilterFirstCharacter = True
+        
+        if position_column:
+            for colname, colsize, colalign in zip(GetVariablesTableColnames(position_column),
+                                                  [40, 80, 350, 80, 100, 80, 150],
+                                                  [wx.ALIGN_RIGHT, wx.ALIGN_RIGHT, wx.ALIGN_LEFT, 
+                                                   wx.ALIGN_RIGHT, wx.ALIGN_RIGHT, wx.ALIGN_LEFT, 
+                                                   wx.ALIGN_LEFT]):
+                self.VariablesGrid.AddColumn(_(colname), colsize, colalign)
+            self.VariablesGrid.SetMainColumn(2)
+        else:
+            for colname, colsize, colalign in zip(GetVariablesTableColnames(),
+                                                  [40, 350, 80, 100, 80, 150],
+                                                  [wx.ALIGN_RIGHT, wx.ALIGN_LEFT, wx.ALIGN_RIGHT, 
+                                                   wx.ALIGN_RIGHT, wx.ALIGN_LEFT, wx.ALIGN_LEFT]):
+                self.VariablesGrid.AddColumn(_(colname), colsize, colalign)
+            self.VariablesGrid.SetMainColumn(1)
+    
+    def RefreshView(self):
+        entries = self.Controler.GetSlaveVariables(self.CurrentFilter)
+        self.RefreshVariablesGrid(entries)
+    
+    def RefreshVariablesGrid(self, entries):
+        root = self.VariablesGrid.GetRootItem()
+        if not root.IsOk():
+            root = self.VariablesGrid.AddRoot(_("Slave entries"))
+        self.GenerateVariablesGridBranch(root, entries, GetVariablesTableColnames(self.PositionColumn))
+        self.VariablesGrid.Expand(root)
+        
+    def GenerateVariablesGridBranch(self, root, entries, colnames, idx=0):
+        item, root_cookie = self.VariablesGrid.GetFirstChild(root)
+        
+        no_more_items = not item.IsOk()
+        for entry in entries:
+            idx += 1
+            if no_more_items:
+                item = self.VariablesGrid.AppendItem(root, "")
+            for col, colname in enumerate(colnames):
+                if col == 0:
+                    self.VariablesGrid.SetItemText(item, str(idx), 0)
+                else:
+                    value = entry.get(colname, "")
+                    if colname == "Access":
+                        value = GetAccessValue(value, entry.get("PDOMapping", ""))
+                    self.VariablesGrid.SetItemText(item, value, col)
+            if entry["PDOMapping"] == "":
+                self.VariablesGrid.SetItemBackgroundColour(item, wx.LIGHT_GREY)
+            else:
+                self.VariablesGrid.SetItemBackgroundColour(item, wx.WHITE)
+            self.VariablesGrid.SetItemPyData(item, entry)
+            idx = self.GenerateVariablesGridBranch(item, entry["children"], colnames, idx)
+            if not no_more_items:
+                item, root_cookie = self.VariablesGrid.GetNextChild(root, root_cookie)
+                no_more_items = not item.IsOk()
+        
+        if not no_more_items:
+            to_delete = []
+            while item.IsOk():
+                to_delete.append(item)
+                item, root_cookie = self.VariablesGrid.GetNextChild(root, root_cookie)
+            for item in to_delete:
+                self.VariablesGrid.Delete(item)
+        
+        return idx
+    
+    def OnVariablesFilterChanged(self, event):
+        filter = self.VariablesFilter.GetSelection()
+        if filter != -1:
+            self.CurrentFilter = self.Filters[filter]
+            self.RefreshView()
+        else:
+            try:
+                value = self.VariablesFilter.GetValue()
+                if value == "":
+                    self.CurrentFilter = self.Filters[0]
+                    self.VariablesFilter.SetSelection(0)
+                else:
+                    result = ETHERCAT_INDEX_MODEL.match(value)
+                    if result is not None:
+                        value = result.group(1)
+                    index = int(value, 16)
+                    self.CurrentFilter = (index, index)
+                    self.VariablesFilter.SetValue(VARIABLE_INDEX_FILTER_FORMAT % index)
+                self.RefreshView()
+            except:
+                if self.CurrentFilter in self.Filters:
+                    self.VariablesFilter.SetSelection(self.Filters.index(self.CurrentFilter))
+                else:
+                    self.VariablesFilter.SetValue(VARIABLE_INDEX_FILTER_FORMAT % self.CurrentFilter[0])
+        self.VariablesFilterFirstCharacter = True
+        event.Skip()
+    
+    def OnVariablesFilterKeyDown(self, event):
+        if self.VariablesFilterFirstCharacter:
+            keycode = event.GetKeyCode()
+            if keycode not in [wx.WXK_RETURN, 
+                               wx.WXK_NUMPAD_ENTER]:
+                self.VariablesFilterFirstCharacter = False
+                if keycode not in NAVIGATION_KEYS:
+                    self.VariablesFilter.SetValue("")
+            if keycode not in [wx.WXK_DELETE, 
+                               wx.WXK_NUMPAD_DELETE, 
+                               wx.WXK_BACK]:
+                event.Skip()
+        else:
+            event.Skip()
+    
+    def OnVariablesGridLeftClick(self, event):
+        item, flags, col = self.VariablesGrid.HitTest(event.GetPosition())
+        if item.IsOk():
+            entry = self.VariablesGrid.GetItemPyData(item)
+            data_type = entry.get("Type", "")
+            data_size = self.Controler.GetSizeOfType(data_type)
+            
+            if col == -1 and data_size is not None:
+                pdo_mapping = entry.get("PDOMapping", "")
+                access = entry.get("Access", "")
+                entry_index = self.Controler.ExtractHexDecValue(entry.get("Index", "0"))
+                entry_subindex = self.Controler.ExtractHexDecValue(entry.get("SubIndex", "0"))
+                location = self.Controler.GetCurrentLocation()
+                if self.PositionColumn:
+                    slave_pos = self.Controler.ExtractHexDecValue(entry.get("Position", "0"))
+                    location += (slave_pos,)
+                    node_name = self.Controler.GetSlaveName(slave_pos)
+                else:
+                    node_name = self.Controler.CTNName()
+                
+                if pdo_mapping != "":
+                    var_name = "%s_%4.4x_%2.2x" % (node_name, entry_index, entry_subindex)
+                    if pdo_mapping == "T":
+                        dir = "%I"
+                    else:
+                        dir = "%Q"
+                    location = "%s%s" % (dir, data_size) + \
+                               ".".join(map(lambda x:str(x), location + (entry_index, entry_subindex)))
+                    
+                    data = wx.TextDataObject(str((location, "location", data_type, var_name, "", access)))
+                    dragSource = wx.DropSource(self.VariablesGrid)
+                    dragSource.SetData(data)
+                    dragSource.DoDragDrop()
+                    return
+                
+                elif self.PositionColumn:
+                    location = self.Controler.GetCurrentLocation() +\
+                               (slave_pos, entry_index, entry_subindex)
+                    data = wx.TextDataObject(str((location, "variable", access)))
+                    dragSource = wx.DropSource(self.VariablesGrid)
+                    dragSource.SetData(data)
+                    dragSource.DoDragDrop()
+                    return
+        
+        event.Skip()
+
+class NodeEditor(ConfTreeNodeEditor):
+    
+    CONFNODEEDITOR_TABS = [
+        (_("Ethercat node"), "_create_EthercatNodeEditor"),
+        # Add Notebook Tab for EtherCAT Management Treebook
+        (_("EtherCAT Management"), "_create_EtherCATManagementEditor")
+        ]
+    
+    def _create_EthercatNodeEditor(self, prnt):
+        self.EthercatNodeEditor = wx.Panel(prnt, style=wx.TAB_TRAVERSAL)
+        
+        main_sizer = wx.FlexGridSizer(cols=1, hgap=0, rows=2, vgap=5)
+        main_sizer.AddGrowableCol(0)
+        main_sizer.AddGrowableRow(1)
+        
+        variables_label = wx.StaticText(self.EthercatNodeEditor,
+              label=_('Variable entries:'))
+        main_sizer.AddWindow(variables_label, border=10, flag=wx.TOP|wx.LEFT|wx.RIGHT)
+        
+        self.NodeVariables = NodeVariablesSizer(self.EthercatNodeEditor, self.Controler)
+        main_sizer.AddSizer(self.NodeVariables, border=10, 
+            flag=wx.GROW|wx.BOTTOM|wx.LEFT|wx.RIGHT)
+                
+        self.EthercatNodeEditor.SetSizer(main_sizer)
+
+        return self.EthercatNodeEditor
+    
+    def __init__(self, parent, controler, window):
+        ConfTreeNodeEditor.__init__(self, parent, controler, window)
+        
+        # add Contoler for use EthercatSlave.py Method
+        self.Controler = controler
+        
+    def GetBufferState(self):
+        return False, False
+        
+    def RefreshView(self):
+        ConfTreeNodeEditor.RefreshView(self)
+    
+        self.NodeVariables.RefreshView()
+
+    # -------------------For EtherCAT Management ----------------------------------------------    
+    def _create_EtherCATManagementEditor(self, prnt):
+        self.EtherCATManagementEditor = wx.ScrolledWindow(prnt,
+            style=wx.TAB_TRAVERSAL|wx.HSCROLL|wx.VSCROLL)
+        self.EtherCATManagementEditor.Bind(wx.EVT_SIZE, self.OnResize)
+
+        self.EtherCATManagermentEditor_Main_Sizer = wx.FlexGridSizer(cols=1, hgap=0, rows=2, vgap=5)
+        self.EtherCATManagermentEditor_Main_Sizer.AddGrowableCol(0)
+        self.EtherCATManagermentEditor_Main_Sizer.AddGrowableRow(0)
+        
+        self.EtherCATManagementTreebook = EtherCATManagementTreebook(self.EtherCATManagementEditor, self.Controler, self)
+          
+        self.EtherCATManagermentEditor_Main_Sizer.AddSizer(self.EtherCATManagementTreebook, border=10, flag=wx.GROW)
+
+        self.EtherCATManagementEditor.SetSizer(self.EtherCATManagermentEditor_Main_Sizer)
+        return self.EtherCATManagementEditor
+    
+    def OnResize(self, event):
+        self.EtherCATManagementEditor.GetBestSize()
+        xstart, ystart = self.EtherCATManagementEditor.GetViewStart()
+        window_size = self.EtherCATManagementEditor.GetClientSize()
+        maxx, maxy = self.EtherCATManagementEditor.GetMinSize()
+        posx = max(0, min(xstart, (maxx - window_size[0]) / SCROLLBAR_UNIT))
+        posy = max(0, min(ystart, (maxy - window_size[1]) / SCROLLBAR_UNIT))
+        self.EtherCATManagementEditor.Scroll(posx, posy)
+        self.EtherCATManagementEditor.SetScrollbars(SCROLLBAR_UNIT, SCROLLBAR_UNIT, 
+                maxx / SCROLLBAR_UNIT, maxy / SCROLLBAR_UNIT, posx, posy)
+        event.Skip()
+    # -------------------------------------------------------------------------------------------------------
+
+CIA402NodeEditor = NodeEditor
+
+
+def GetProcessVariablesTableColnames():
+    _ = lambda x : x
+    return ["#", _("Name"), 
+            _("Read from (nodeid, index, subindex)"), 
+            _("Write to (nodeid, index, subindex)"),
+            _("Description")]
+
+class ProcessVariablesTable(CustomTable):
+    
+    def GetValue(self, row, col):
+        if row < self.GetNumberRows():
+            if col == 0:
+                return row + 1
+            colname = self.GetColLabelValue(col, False)
+            if colname.startswith("Read from"):
+                value = self.data[row].get("ReadFrom", "")
+                if value == "":
+                    return value
+                return "%d, #x%0.4X, #x%0.2X" % value
+            elif colname.startswith("Write to"):
+                value = self.data[row].get("WriteTo", "")
+                if value == "":
+                    return value
+                return "%d, #x%0.4X, #x%0.2X" % value
+            return self.data[row].get(colname, "")
+    
+    def SetValue(self, row, col, value):
+        if col < len(self.colnames):
+            colname = self.GetColLabelValue(col, False)
+            if colname.startswith("Read from"):
+                self.data[row]["ReadFrom"] = value
+            elif colname.startswith("Write to"):
+                self.data[row]["WriteTo"] = value
+            else:
+                self.data[row][colname] = value
+    
+    def _updateColAttrs(self, grid):
+        """
+        wx.grid.Grid -> update the column attributes to add the
+        appropriate renderer given the column name.
+
+        Otherwise default to the default renderer.
+        """
+        for row in range(self.GetNumberRows()):
+            for col in range(self.GetNumberCols()):
+                editor = None
+                renderer = None
+                colname = self.GetColLabelValue(col, False)
+                if colname in ["Name", "Description"]:
+                    editor = wx.grid.GridCellTextEditor()
+                    renderer = wx.grid.GridCellStringRenderer()
+                    grid.SetReadOnly(row, col, False)
+                else:
+                    grid.SetReadOnly(row, col, True)
+                
+                grid.SetCellEditor(row, col, editor)
+                grid.SetCellRenderer(row, col, renderer)
+                
+            self.ResizeRow(grid, row)
+
+class ProcessVariableDropTarget(wx.TextDropTarget):
+    
+    def __init__(self, parent):
+        wx.TextDropTarget.__init__(self)
+        self.ParentWindow = parent
+    
+    def OnDropText(self, x, y, data):
+        self.ParentWindow.Select()
+        x, y = self.ParentWindow.ProcessVariablesGrid.CalcUnscrolledPosition(x, y)
+        col = self.ParentWindow.ProcessVariablesGrid.XToCol(x)
+        row = self.ParentWindow.ProcessVariablesGrid.YToRow(y - self.ParentWindow.ProcessVariablesGrid.GetColLabelSize())
+        message = None
+        try:
+            values = eval(data)
+        except:
+            message = _("Invalid value \"%s\" for process variable")%data
+            values = None
+        if not isinstance(values, TupleType):
+            message = _("Invalid value \"%s\" for process variable")%data
+            values = None
+        if values is not None and col != wx.NOT_FOUND and row != wx.NOT_FOUND and 2 <= col <= 3:
+            location = None
+            if values[1] == "location":
+                result = LOCATION_MODEL.match(values[0])
+                if result is not None:
+                    location = map(int, result.group(1).split('.'))
+                master_location = self.ParentWindow.GetMasterLocation()
+                if (master_location == tuple(location[:len(master_location)]) and 
+                    len(location) - len(master_location) == 3):
+                    values = tuple(location[len(master_location):])
+                    var_type = self.ParentWindow.Controler.GetSlaveVariableDataType(*values)
+                    if col == 2:
+                        other_values = self.ParentWindow.ProcessVariablesTable.GetValueByName(row, "WriteTo")
+                    else:
+                        other_values = self.ParentWindow.ProcessVariablesTable.GetValueByName(row, "ReadFrom")
+                    if other_values != "":
+                        other_type = self.ParentWindow.Controler.GetSlaveVariableDataType(*other_values)
+                    else:
+                        other_type = None
+                    if other_type is None or var_type == other_type:
+                        if col == 2:
+                            self.ParentWindow.ProcessVariablesTable.SetValueByName(row, "ReadFrom", values)
+                        else:
+                            self.ParentWindow.ProcessVariablesTable.SetValueByName(row, "WriteTo", values)
+                        self.ParentWindow.SaveProcessVariables()
+                        self.ParentWindow.RefreshProcessVariables()
+                    else:
+                        message = _("'Read from' and 'Write to' variables types are not compatible")
+                else:
+                    message = _("Invalid value \"%s\" for process variable")%data
+                    
+        if message is not None:
+            wx.CallAfter(self.ShowMessage, message)
+    
+    def ShowMessage(self, message):
+        message = wx.MessageDialog(self.ParentWindow, message, _("Error"), wx.OK|wx.ICON_ERROR)
+        message.ShowModal()
+        message.Destroy()
+
+def GetStartupCommandsTableColnames():
+    _ = lambda x : x
+    return [_("Position"), _("Index"), _("Subindex"), _("Value"), _("Description")]
+
+class StartupCommandDropTarget(wx.TextDropTarget):
+    
+    def __init__(self, parent):
+        wx.TextDropTarget.__init__(self)
+        self.ParentWindow = parent
+    
+    def OnDropText(self, x, y, data):
+        self.ParentWindow.Select()
+        message = None
+        try:
+            values = eval(data)
+        except:
+            message = _("Invalid value \"%s\" for startup command")%data
+            values = None
+        if not isinstance(values, TupleType):
+            message = _("Invalid value \"%s\" for startup command")%data
+            values = None
+        if values is not None:
+            location = None
+            if values[1] == "location":
+                result = LOCATION_MODEL.match(values[0])
+                if result is not None and len(values) > 5:
+                    location = map(int, result.group(1).split('.'))
+                    access = values[5]
+            elif values[1] == "variable":
+                location = values[0]
+                access = values[2]
+            if location is not None:
+                master_location = self.ParentWindow.GetMasterLocation()
+                if (master_location == tuple(location[:len(master_location)]) and 
+                    len(location) - len(master_location) == 3):
+                    if access in ["wo", "rw"]:
+                        self.ParentWindow.AddStartupCommand(*location[len(master_location):])
+                    else:
+                        message = _("Entry can't be write through SDO")
+                else:
+                    message = _("Invalid value \"%s\" for startup command")%data
+                    
+        if message is not None:
+            wx.CallAfter(self.ShowMessage, message)
+    
+    def ShowMessage(self, message):
+        message = wx.MessageDialog(self.ParentWindow, message, _("Error"), wx.OK|wx.ICON_ERROR)
+        message.ShowModal()
+        message.Destroy()
+
+class StartupCommandsTable(CustomTable):
+
+    """
+    A custom wx.grid.Grid Table using user supplied data
+    """
+    def __init__(self, parent, data, colnames):
+        # The base class must be initialized *first*
+        CustomTable.__init__(self, parent, data, colnames)
+        self.old_value = None
+
+    def GetValue(self, row, col):
+        if row < self.GetNumberRows():
+            colname = self.GetColLabelValue(col, False)
+            value = self.data[row].get(colname, "")
+            if colname == "Index":
+                return "#x%0.4X" % value
+            elif colname == "Subindex":
+                return "#x%0.2X" % value
+            return value
+    
+    def SetValue(self, row, col, value):
+        if col < len(self.colnames):
+            colname = self.GetColLabelValue(col, False)
+            if colname in ["Index", "Subindex"]:
+                if colname == "Index":
+                    result = ETHERCAT_INDEX_MODEL.match(value)
+                else:
+                    result = ETHERCAT_SUBINDEX_MODEL.match(value)
+                if result is None:
+                    return
+                value = int(result.group(1), 16)
+            elif colname == "Value":
+                value = int(value)
+            elif colname == "Position":
+                self.old_value = self.data[row][colname]
+                value = int(value)
+            self.data[row][colname] = value
+    
+    def GetOldValue(self):
+        return self.old_value
+    
+    def _updateColAttrs(self, grid):
+        """
+        wx.grid.Grid -> update the column attributes to add the
+        appropriate renderer given the column name.
+
+        Otherwise default to the default renderer.
+        """
+        for row in range(self.GetNumberRows()):
+            for col in range(self.GetNumberCols()):
+                editor = None
+                renderer = None
+                colname = self.GetColLabelValue(col, False)
+                if colname in ["Position", "Value"]:
+                    editor = wx.grid.GridCellNumberEditor()
+                    renderer = wx.grid.GridCellNumberRenderer()
+                else:
+                    editor = wx.grid.GridCellTextEditor()
+                    renderer = wx.grid.GridCellStringRenderer()
+                
+                grid.SetCellEditor(row, col, editor)
+                grid.SetCellRenderer(row, col, renderer)
+                grid.SetReadOnly(row, col, False)
+                
+            self.ResizeRow(grid, row)
+    
+    def GetCommandIndex(self, position, command_idx):
+        for row, command in enumerate(self.data):
+            if command["Position"] == position and command["command_idx"] == command_idx:
+                return row
+        return None
+
+class MasterNodesVariablesSizer(NodeVariablesSizer):
+    
+    def __init__(self, parent, controler):
+        NodeVariablesSizer.__init__(self, parent, controler, True)
+        
+        self.CurrentNodesFilter = {}
+    
+    def SetCurrentNodesFilter(self, nodes_filter):
+        self.CurrentNodesFilter = nodes_filter
+        
+    def RefreshView(self):
+        if self.CurrentNodesFilter is not None:
+            args = self.CurrentNodesFilter.copy()
+            args["limits"] = self.CurrentFilter
+            entries = self.Controler.GetNodesVariables(**args)
+            self.RefreshVariablesGrid(entries)
+
+NODE_POSITION_FILTER_FORMAT = _("Node Position: %d")
+
+class MasterEditor(ConfTreeNodeEditor):
+    
+    CONFNODEEDITOR_TABS = [
+        (_("Network"), "_create_EthercatMasterEditor"),
+        (_("Master State"), "_create_MasterStateEditor")
+        ]
+    
+    def _create_MasterStateEditor(self, prnt):
+        self.MasterStateEditor = wx.ScrolledWindow(prnt, style=wx.TAB_TRAVERSAL|wx.HSCROLL|wx.VSCROLL)
+        self.MasterStateEditor.Bind(wx.EVT_SIZE, self.OnResize)
+        
+        self.MasterStateEditor_Panel_Main_Sizer = wx.FlexGridSizer(cols=1, hgap=0, rows=2, vgap=5)
+        self.MasterStateEditor_Panel_Main_Sizer.AddGrowableCol(0)
+        self.MasterStateEditor_Panel_Main_Sizer.AddGrowableRow(0)
+        
+        self.MasterStateEditor_Panel = MasterStatePanelClass(self.MasterStateEditor, self.Controler)
+        
+        self.MasterStateEditor_Panel_Main_Sizer.AddSizer(self.MasterStateEditor_Panel, border=10, flag=wx.GROW)
+         
+        self.MasterStateEditor.SetSizer(self.MasterStateEditor_Panel_Main_Sizer)
+        return self.MasterStateEditor
+    
+    def OnResize(self, event):
+        self.MasterStateEditor.GetBestSize()
+        xstart, ystart = self.MasterStateEditor.GetViewStart()
+        window_size = self.MasterStateEditor.GetClientSize()
+        maxx, maxy = self.MasterStateEditor.GetMinSize()
+        posx = max(0, min(xstart, (maxx - window_size[0]) / SCROLLBAR_UNIT))
+        posy = max(0, min(ystart, (maxy - window_size[1]) / SCROLLBAR_UNIT))
+        self.MasterStateEditor.Scroll(posx, posy)
+        self.MasterStateEditor.SetScrollbars(SCROLLBAR_UNIT, SCROLLBAR_UNIT, 
+                maxx / SCROLLBAR_UNIT, maxy / SCROLLBAR_UNIT, posx, posy)
+        event.Skip()
+    
+    def _create_EthercatMasterEditor(self, prnt):
+        self.EthercatMasterEditor = wx.ScrolledWindow(prnt, 
+            style=wx.TAB_TRAVERSAL|wx.HSCROLL|wx.VSCROLL)
+        self.EthercatMasterEditor.Bind(wx.EVT_SIZE, self.OnResize)
+        
+        self.EthercatMasterEditorSizer = wx.BoxSizer(wx.VERTICAL)
+        
+        self.NodesFilter = wx.ComboBox(self.EthercatMasterEditor,
+            style=wx.TE_PROCESS_ENTER)
+        self.Bind(wx.EVT_COMBOBOX, self.OnNodesFilterChanged, self.NodesFilter)
+        self.Bind(wx.EVT_TEXT_ENTER, self.OnNodesFilterChanged, self.NodesFilter)
+        self.NodesFilter.Bind(wx.EVT_CHAR, self.OnNodesFilterKeyDown)
+        
+        process_variables_header = wx.BoxSizer(wx.HORIZONTAL)
+        
+        process_variables_label = wx.StaticText(self.EthercatMasterEditor,
+              label=_("Process variables mapped between nodes:"))
+        process_variables_header.AddWindow(process_variables_label, 1,
+              flag=wx.ALIGN_CENTER_VERTICAL)
+        
+        for name, bitmap, help in [
+                ("AddVariableButton", "add_element", _("Add process variable")),
+                ("DeleteVariableButton", "remove_element", _("Remove process variable")),
+                ("UpVariableButton", "up", _("Move process variable up")),
+                ("DownVariableButton", "down", _("Move process variable down"))]:
+            button = wx.lib.buttons.GenBitmapButton(self.EthercatMasterEditor, bitmap=GetBitmap(bitmap), 
+                  size=wx.Size(28, 28), style=wx.NO_BORDER)
+            button.SetToolTipString(help)
+            setattr(self, name, button)
+            process_variables_header.AddWindow(button, border=5, flag=wx.LEFT)
+        
+        self.ProcessVariablesGrid = CustomGrid(self.EthercatMasterEditor, style=wx.VSCROLL)
+        self.ProcessVariablesGrid.SetMinSize(wx.Size(0, 150))
+        self.ProcessVariablesGrid.SetDropTarget(ProcessVariableDropTarget(self))
+        self.ProcessVariablesGrid.Bind(wx.grid.EVT_GRID_CELL_CHANGE, 
+              self.OnProcessVariablesGridCellChange)
+        self.ProcessVariablesGrid.Bind(wx.grid.EVT_GRID_CELL_LEFT_CLICK, 
+              self.OnProcessVariablesGridCellLeftClick)
+        self.ProcessVariablesGrid.Bind(wx.EVT_KEY_DOWN, self.OnProcessVariablesGridKeyDown)
+        
+        startup_commands_header = wx.BoxSizer(wx.HORIZONTAL)
+        
+        startup_commands_label = wx.StaticText(self.EthercatMasterEditor,
+              label=_("Startup service variables assignments:"))
+        startup_commands_header.AddWindow(startup_commands_label, 1,
+              flag=wx.ALIGN_CENTER_VERTICAL)
+        
+        for name, bitmap, help in [
+                ("AddCommandButton", "add_element", _("Add startup service variable")),
+                ("DeleteCommandButton", "remove_element", _("Remove startup service variable"))]:
+            button = wx.lib.buttons.GenBitmapButton(self.EthercatMasterEditor, bitmap=GetBitmap(bitmap), 
+                  size=wx.Size(28, 28), style=wx.NO_BORDER)
+            button.SetToolTipString(help)
+            setattr(self, name, button)
+            startup_commands_header.AddWindow(button, border=5, flag=wx.LEFT)
+        
+        self.StartupCommandsGrid = CustomGrid(self.EthercatMasterEditor, style=wx.VSCROLL)
+        self.StartupCommandsGrid.SetDropTarget(StartupCommandDropTarget(self))
+        self.StartupCommandsGrid.SetMinSize(wx.Size(0, 150))
+        self.StartupCommandsGrid.Bind(wx.grid.EVT_GRID_CELL_CHANGE, 
+              self.OnStartupCommandsGridCellChange)
+        self.StartupCommandsGrid.Bind(wx.grid.EVT_GRID_EDITOR_SHOWN, 
+              self.OnStartupCommandsGridEditorShow)
+        
+        self.NodesVariables = MasterNodesVariablesSizer(self.EthercatMasterEditor, self.Controler)
+        
+        main_staticbox = wx.StaticBox(self.EthercatMasterEditor, label=_("Node filter:"))
+        staticbox_sizer = wx.StaticBoxSizer(main_staticbox, wx.VERTICAL)
+        self.EthercatMasterEditorSizer.AddSizer(staticbox_sizer, 0, border=10, flag=wx.GROW|wx.ALL)
+        
+        main_staticbox_sizer = wx.FlexGridSizer(cols=1, hgap=0, rows=6, vgap=0)
+        main_staticbox_sizer.AddGrowableCol(0)
+        main_staticbox_sizer.AddGrowableRow(2)
+        main_staticbox_sizer.AddGrowableRow(4)
+        main_staticbox_sizer.AddGrowableRow(5)
+        staticbox_sizer.AddSizer(main_staticbox_sizer, 1, flag=wx.GROW)
+        main_staticbox_sizer.AddWindow(self.NodesFilter, border=5, flag=wx.GROW|wx.ALL)
+        main_staticbox_sizer.AddSizer(process_variables_header, border=5, 
+              flag=wx.GROW|wx.LEFT|wx.RIGHT|wx.BOTTOM)
+        main_staticbox_sizer.AddWindow(self.ProcessVariablesGrid, 1, 
+              border=5, flag=wx.GROW|wx.LEFT|wx.RIGHT|wx.BOTTOM)
+        main_staticbox_sizer.AddSizer(startup_commands_header, 
+              border=5, flag=wx.GROW|wx.LEFT|wx.RIGHT|wx.BOTTOM)
+        main_staticbox_sizer.AddWindow(self.StartupCommandsGrid, 1, 
+              border=5, flag=wx.GROW|wx.LEFT|wx.RIGHT|wx.BOTTOM)
+        
+        second_staticbox = wx.StaticBox(self.EthercatMasterEditor, label=_("Nodes variables filter:"))
+        second_staticbox_sizer = wx.StaticBoxSizer(second_staticbox, wx.VERTICAL)
+        second_staticbox_sizer.AddSizer(self.NodesVariables, 1, border=5, flag=wx.GROW|wx.ALL)
+        
+        main_staticbox_sizer.AddSizer(second_staticbox_sizer, 1, 
+            border=5, flag=wx.GROW|wx.LEFT|wx.RIGHT|wx.BOTTOM)
+        
+        self.EthercatMasterEditor.SetSizer(self.EthercatMasterEditorSizer)
+        
+        return self.EthercatMasterEditor
+
+    def __init__(self, parent, controler, window):
+        ConfTreeNodeEditor.__init__(self, parent, controler, window)
+        
+        # ------------------------------------------------------------------
+        self.Controler = controler
+        # ------------------------------------------------------------------
+        
+        self.ProcessVariables = []
+        self.CellShown = None
+        self.NodesFilterFirstCharacter = True
+        
+        self.ProcessVariablesDefaultValue = {"Name": "", "ReadFrom": "", "WriteTo": "", "Description": ""}
+        self.ProcessVariablesTable = ProcessVariablesTable(self, [], GetProcessVariablesTableColnames())
+        self.ProcessVariablesColSizes = [40, 100, 150, 150, 200]
+        self.ProcessVariablesColAlignements = [wx.ALIGN_CENTER, wx.ALIGN_LEFT, wx.ALIGN_LEFT, wx.ALIGN_LEFT, wx.ALIGN_LEFT]
+        
+        self.ProcessVariablesGrid.SetTable(self.ProcessVariablesTable)
+        self.ProcessVariablesGrid.SetButtons({"Add": self.AddVariableButton,
+                                              "Delete": self.DeleteVariableButton,
+                                              "Up": self.UpVariableButton,
+                                              "Down": self.DownVariableButton})
+        
+        def _AddVariablesElement(new_row):
+            self.ProcessVariablesTable.InsertRow(new_row, self.ProcessVariablesDefaultValue.copy())
+            self.SaveProcessVariables()
+            self.ProcessVariablesTable.ResetView(self.ProcessVariablesGrid)
+            return new_row
+        setattr(self.ProcessVariablesGrid, "_AddRow", _AddVariablesElement)
+        
+        def _DeleteVariablesElement(row):
+            self.ProcessVariablesTable.RemoveRow(row)
+            self.SaveProcessVariables()
+            self.ProcessVariablesTable.ResetView(self.ProcessVariablesGrid)
+        setattr(self.ProcessVariablesGrid, "_DeleteRow", _DeleteVariablesElement)
+            
+        def _MoveVariablesElement(row, move):
+            new_row = self.ProcessVariablesTable.MoveRow(row, move)
+            if new_row != row:
+                self.SaveProcessVariables()
+                self.ProcessVariablesTable.ResetView(self.ProcessVariablesGrid)
+            return new_row
+        setattr(self.ProcessVariablesGrid, "_MoveRow", _MoveVariablesElement)
+        
+        _refresh_buttons = getattr(self.ProcessVariablesGrid, "RefreshButtons")
+        def _RefreshButtons():
+            if self.NodesFilter.GetSelection() == 0:
+                _refresh_buttons()
+            else:
+                self.AddVariableButton.Enable(False)
+                self.DeleteVariableButton.Enable(False)
+                self.UpVariableButton.Enable(False)
+                self.DownVariableButton.Enable(False)
+        setattr(self.ProcessVariablesGrid, "RefreshButtons", _RefreshButtons)
+        
+        self.ProcessVariablesGrid.SetRowLabelSize(0)
+        for col in range(self.ProcessVariablesTable.GetNumberCols()):
+            attr = wx.grid.GridCellAttr()
+            attr.SetAlignment(self.ProcessVariablesColAlignements[col], wx.ALIGN_CENTRE)
+            self.ProcessVariablesGrid.SetColAttr(col, attr)
+            self.ProcessVariablesGrid.SetColMinimalWidth(col, self.ProcessVariablesColSizes[col])
+            self.ProcessVariablesGrid.AutoSizeColumn(col, False)
+        self.ProcessVariablesGrid.RefreshButtons()
+    
+        self.StartupCommandsDefaultValue = {"Position": 0, "Index": 0, "Subindex": 0, "Value": 0, "Description": ""}
+        self.StartupCommandsTable = StartupCommandsTable(self, [], GetStartupCommandsTableColnames())
+        self.StartupCommandsColSizes = [100, 100, 50, 100, 200]
+        self.StartupCommandsColAlignements = [wx.ALIGN_CENTER, wx.ALIGN_RIGHT, wx.ALIGN_RIGHT, wx.ALIGN_RIGHT, wx.ALIGN_LEFT]
+        
+        self.StartupCommandsGrid.SetTable(self.StartupCommandsTable)
+        self.StartupCommandsGrid.SetButtons({"Add": self.AddCommandButton,
+                                             "Delete": self.DeleteCommandButton})
+        
+        def _AddCommandsElement(new_row):
+            command = self.StartupCommandsDefaultValue.copy()
+            command_idx = self.Controler.AppendStartupCommand(command)
+            self.RefreshStartupCommands()
+            self.RefreshBuffer()
+            return self.StartupCommandsTable.GetCommandIndex(command["Position"], command_idx)
+        setattr(self.StartupCommandsGrid, "_AddRow", _AddCommandsElement)
+        
+        def _DeleteCommandsElement(row):
+            command = self.StartupCommandsTable.GetRow(row)
+            self.Controler.RemoveStartupCommand(command["Position"], command["command_idx"])
+            self.RefreshStartupCommands()
+            self.RefreshBuffer()
+        setattr(self.StartupCommandsGrid, "_DeleteRow", _DeleteCommandsElement)
+        
+        self.StartupCommandsGrid.SetRowLabelSize(0)
+        for col in range(self.StartupCommandsTable.GetNumberCols()):
+            attr = wx.grid.GridCellAttr()
+            attr.SetAlignment(self.StartupCommandsColAlignements[col], wx.ALIGN_CENTRE)
+            self.StartupCommandsGrid.SetColAttr(col, attr)
+            self.StartupCommandsGrid.SetColMinimalWidth(col, self.StartupCommandsColSizes[col])
+            self.StartupCommandsGrid.AutoSizeColumn(col, False)
+        self.StartupCommandsGrid.RefreshButtons()
+    
+    def RefreshBuffer(self):
+        self.ParentWindow.RefreshTitle()
+        self.ParentWindow.RefreshFileMenu()
+        self.ParentWindow.RefreshEditMenu()
+        self.ParentWindow.RefreshPageTitles()
+    
+    def GetBufferState(self):
+        return self.Controler.GetBufferState()
+    
+    def Undo(self):
+        self.Controler.LoadPrevious()
+        self.RefreshView()
+            
+    def Redo(self):
+        self.Controler.LoadNext()
+        self.RefreshView()
+    
+    def RefreshView(self):
+        ConfTreeNodeEditor.RefreshView(self)
+        
+        self.RefreshNodesFilter()
+        self.RefreshProcessVariables()
+        self.RefreshStartupCommands()
+        self.NodesVariables.RefreshView()
+    
+    def RefreshNodesFilter(self):
+        value = self.NodesFilter.GetValue()
+        self.NodesFilter.Clear()
+        self.NodesFilter.Append(_("All"))
+        self.NodesFilterValues = [{}]
+        for vendor_id, vendor_name in self.Controler.GetLibraryVendors():
+            self.NodesFilter.Append(_("%s's nodes") % vendor_name)
+            self.NodesFilterValues.append({"vendor": vendor_id})
+        self.NodesFilter.Append(_("CIA402 nodes"))
+        self.NodesFilterValues.append({"slave_profile": 402})
+        if value in self.NodesFilter.GetStrings():
+            self.NodesFilter.SetStringSelection(value)
+        else:
+            try:
+                int(value)
+                self.NodesFilter.SetValue(value)
+            except:
+                self.NodesFilter.SetSelection(0)
+        self.RefreshCurrentNodesFilter()
+    
+    def RefreshCurrentNodesFilter(self):
+        filter = self.NodesFilter.GetSelection()
+        if filter != -1:
+            self.CurrentNodesFilter = self.NodesFilterValues[filter]
+        else:
+            try:
+                value = self.NodesFilter.GetValue()
+                if value == "":
+                    self.CurrentNodesFilter = self.NodesFilterValues[0]
+                    self.NodesFilter.SetSelection(0)
+                else:
+                    position = int(self.NodesFilter.GetValue())
+                    self.CurrentNodesFilter = {"slave_pos": position}
+                    self.NodesFilter.SetValue(NODE_POSITION_FILTER_FORMAT % position)
+            except:
+                if self.CurrentNodesFilter in self.NodesFilterValues:
+                    self.NodesFilter.SetSelection(self.NodesFilterValues.index(self.CurrentNodesFilter))
+                else:
+                    self.NodesFilter.SetValue(NODE_POSITION_FILTER_FORMAT % self.CurrentNodesFilter["slave_pos"])
+        self.NodesFilterFirstCharacter = True
+        self.NodesVariables.SetCurrentNodesFilter(self.CurrentNodesFilter)
+    
+    def RefreshProcessVariables(self):
+        if self.CurrentNodesFilter is not None:
+            self.ProcessVariables = self.Controler.GetProcessVariables()
+            slaves = self.Controler.GetSlaves(**self.CurrentNodesFilter)
+            data = []
+            for variable in self.ProcessVariables:
+                if (variable["ReadFrom"] == "" or variable["ReadFrom"][0] in slaves or
+                    variable["WriteTo"] == "" or variable["WriteTo"][0] in slaves):
+                    data.append(variable)
+            self.ProcessVariablesTable.SetData(data)
+            self.ProcessVariablesTable.ResetView(self.ProcessVariablesGrid)
+            self.ProcessVariablesGrid.RefreshButtons()
+    
+    def SaveProcessVariables(self):
+        if self.CurrentNodesFilter is not None:
+            if len(self.CurrentNodesFilter) > 0:
+                self.Controler.SetProcessVariables(self.ProcessVariables)
+            else:
+                self.Controler.SetProcessVariables(self.ProcessVariablesTable.GetData())
+            self.RefreshBuffer()
+    
+    def RefreshStartupCommands(self, position=None, command_idx=None):
+        if self.CurrentNodesFilter is not None:
+            col = max(self.StartupCommandsGrid.GetGridCursorCol(), 0)
+            self.StartupCommandsTable.SetData(
+                self.Controler.GetStartupCommands(**self.CurrentNodesFilter))
+            self.StartupCommandsTable.ResetView(self.StartupCommandsGrid)
+            if position is not None and command_idx is not None:
+                self.SelectStartupCommand(position, command_idx, col)
+    
+    def SelectStartupCommand(self, position, command_idx, col):
+        self.StartupCommandsGrid.SetSelectedCell(
+            self.StartupCommandsTable.GetCommandIndex(position, command_idx),
+            col)
+    
+    def GetMasterLocation(self):
+        return self.Controler.GetCurrentLocation()
+    
+    def AddStartupCommand(self, position, index, subindex):
+        col = max(self.StartupCommandsGrid.GetGridCursorCol(), 0)
+        command = self.StartupCommandsDefaultValue.copy()
+        command["Position"] = position
+        command["Index"] = index
+        command["Subindex"] = subindex
+        command_idx = self.Controler.AppendStartupCommand(command)
+        self.RefreshStartupCommands()
+        self.RefreshBuffer()
+        self.SelectStartupCommand(position, command_idx, col)
+    
+    def OnNodesFilterChanged(self, event):
+        self.RefreshCurrentNodesFilter()
+        if self.CurrentNodesFilter is not None:
+            self.RefreshProcessVariables()
+            self.RefreshStartupCommands()
+            self.NodesVariables.RefreshView()
+        event.Skip()
+    
+    def OnNodesFilterKeyDown(self, event):
+        if self.NodesFilterFirstCharacter:
+            keycode = event.GetKeyCode()
+            if keycode not in [wx.WXK_RETURN, 
+                               wx.WXK_NUMPAD_ENTER]:
+                self.NodesFilterFirstCharacter = False
+                if keycode not in NAVIGATION_KEYS:
+                    self.NodesFilter.SetValue("")
+            if keycode not in [wx.WXK_DELETE, 
+                               wx.WXK_NUMPAD_DELETE, 
+                               wx.WXK_BACK]:
+                event.Skip()
+        else:
+            event.Skip()
+    
+    def OnProcessVariablesGridCellChange(self, event):
+        row, col = event.GetRow(), event.GetCol()
+        colname = self.ProcessVariablesTable.GetColLabelValue(col, False)
+        value = self.ProcessVariablesTable.GetValue(row, col)
+        message = None
+        if colname == "Name":
+            if not TestIdentifier(value):
+                message = _("\"%s\" is not a valid identifier!") % value
+            elif value.upper() in IEC_KEYWORDS:
+                message = _("\"%s\" is a keyword. It can't be used!") % value
+            elif value.upper() in [var["Name"].upper() for idx, var in enumerate(self.ProcessVariablesTable.GetData()) if idx != row]:
+                message = _("An variable named \"%s\" already exists!") % value
+        if message is None:
+            self.SaveProcessVariables()
+            wx.CallAfter(self.ProcessVariablesTable.ResetView, self.ProcessVariablesGrid)
+            event.Skip()
+        else:
+            dialog = wx.MessageDialog(self, message, _("Error"), wx.OK|wx.ICON_ERROR)
+            dialog.ShowModal()
+            dialog.Destroy()
+            event.Veto()
+    
+    def OnProcessVariablesGridCellLeftClick(self, event):
+        row = event.GetRow()
+        if event.GetCol() == 0:
+            var_name = self.ProcessVariablesTable.GetValueByName(row, "Name")
+            var_type = self.Controler.GetSlaveVariableDataType(
+                *self.ProcessVariablesTable.GetValueByName(row, "ReadFrom"))
+            data_size = self.Controler.GetSizeOfType(var_type)
+            number = self.ProcessVariablesTable.GetValueByName(row, "Number")
+            location = "%%M%s" % data_size + \
+                       ".".join(map(lambda x:str(x), self.Controler.GetCurrentLocation() + (number,)))
+            
+            data = wx.TextDataObject(str((location, "location", var_type, var_name, "")))
+            dragSource = wx.DropSource(self.ProcessVariablesGrid)
+            dragSource.SetData(data)
+            dragSource.DoDragDrop()
+        event.Skip()
+    
+    def OnProcessVariablesGridKeyDown(self, event):
+        keycode = event.GetKeyCode()
+        col = self.ProcessVariablesGrid.GetGridCursorCol()
+        row = self.ProcessVariablesGrid.GetGridCursorRow()
+        colname = self.ProcessVariablesTable.GetColLabelValue(col, False)
+        if (keycode in (wx.WXK_DELETE, wx.WXK_NUMPAD_DELETE) and 
+            (colname.startswith("Read from") or colname.startswith("Write to"))):
+            self.ProcessVariablesTable.SetValue(row, col, "")
+            self.SaveProcessVariables()
+            wx.CallAfter(self.ProcessVariablesTable.ResetView, self.ProcessVariablesGrid)
+        else:
+            event.Skip()
+    
+    def OnStartupCommandsGridEditorShow(self, event):
+        self.CellShown = event.GetRow(), event.GetCol()
+        event.Skip()
+    
+    def OnStartupCommandsGridCellChange(self, event):
+        row, col = event.GetRow(), event.GetCol()
+        if self.CellShown == (row, col):
+            self.CellShown = None
+            colname = self.StartupCommandsTable.GetColLabelValue(col, False)
+            value = self.StartupCommandsTable.GetValue(row, col)
+            message = None
+            if colname == "Position":
+                if value not in self.Controler.GetSlaves():
+                    message = _("No slave defined at position %d!") % value
+                old_value = self.StartupCommandsTable.GetOldValue()
+                command = self.StartupCommandsTable.GetRow(row)
+                if message is None and old_value != command["Position"]:
+                    self.Controler.RemoveStartupCommand(
+                        self.StartupCommandsTable.GetOldValue(),
+                        command["command_idx"], False)
+                    command_idx = self.Controler.AppendStartupCommand(command)
+                    wx.CallAfter(self.RefreshStartupCommands, command["Position"], command_idx)
+            else:
+                command = self.StartupCommandsTable.GetRow(row)
+                self.Controler.SetStartupCommandInfos(command)
+                if colname in ["Index", "SubIndex"]: 
+                    wx.CallAfter(self.RefreshStartupCommands, command["Position"], command["command_idx"])
+            if message is None:
+                self.RefreshBuffer()
+                event.Skip()
+            else:
+                dialog = wx.MessageDialog(self, message, _("Error"), wx.OK|wx.ICON_ERROR)
+                dialog.ShowModal()
+                dialog.Destroy()
+                event.Veto()
+        else:
+            event.Veto()
+    
+    def OnResize(self, event):
+        self.EthercatMasterEditor.GetBestSize()
+        xstart, ystart = self.EthercatMasterEditor.GetViewStart()
+        window_size = self.EthercatMasterEditor.GetClientSize()
+        maxx, maxy = self.EthercatMasterEditorSizer.GetMinSize()
+        posx = max(0, min(xstart, (maxx - window_size[0]) / SCROLLBAR_UNIT))
+        posy = max(0, min(ystart, (maxy - window_size[1]) / SCROLLBAR_UNIT))
+        self.EthercatMasterEditor.Scroll(posx, posy)
+        self.EthercatMasterEditor.SetScrollbars(SCROLLBAR_UNIT, SCROLLBAR_UNIT, 
+                maxx / SCROLLBAR_UNIT, maxy / SCROLLBAR_UNIT, posx, posy)
+        event.Skip()
+        
+    #def OnButtonClick(self, event):
+    #    self.MasterState = self.Controler.getMasterState()
+    #    if self.MasterState:
+    #        self.Phase.SetValue(self.MasterState["phase"])
+    #        self.Active.SetValue(self.MasterState["active"])
+    #        self.SlaveCount.SetValue(self.MasterState["slave"])
+    #        self.MacAddress.SetValue(self.MasterState["MAC"])
+    #        self.LinkState.SetValue(self.MasterState["link"])
+    #        self.TxFrames.SetValue(self.MasterState["TXframe"])
+    #        self.RxFrames.SetValue(self.MasterState["RXframe"])
+    #        self.TxByte.SetValue(self.MasterState["TXbyte"])
+    #        self.TxError.SetValue(self.MasterState["TXerror"])
+    #        self.LostFrames.SetValue(self.MasterState["lost"])
+            
+    #        self.TxFrameRate1.SetValue(self.MasterState["TXframerate1"])
+    #        self.TxFrameRate2.SetValue(self.MasterState["TXframerate2"])
+    #        self.TxFrameRate3.SetValue(self.MasterState["TXframerate3"])
+    #        self.TxRate1.SetValue(self.MasterState["TXrate1"])
+    #        self.TxRate2.SetValue(self.MasterState["TXrate2"])
+    #        self.TxRate3.SetValue(self.MasterState["TXrate3"])
+    #        self.LossRate1.SetValue(self.MasterState["loss1"])
+    #        self.LossRate2.SetValue(self.MasterState["loss2"])
+    #        self.LossRate3.SetValue(self.MasterState["loss3"])
+    #        self.FrameLoss1.SetValue(self.MasterState["frameloss1"])
+    #        self.FrameLoss2.SetValue(self.MasterState["frameloss2"])
+    #        self.FrameLoss3.SetValue(self.MasterState["frameloss3"])
+    
+class LibraryEditorSizer(wx.FlexGridSizer):
+    
+    def __init__(self, parent, module_library, buttons):
+        wx.FlexGridSizer.__init__(self, cols=1, hgap=0, rows=4, vgap=5)
+        
+        self.ModuleLibrary = module_library
+        self.ParentWindow = parent
+        
+        self.AddGrowableCol(0)
+        self.AddGrowableRow(1)
+        self.AddGrowableRow(3)
+        
+        ESI_files_label = wx.StaticText(parent, 
+            label=_("ESI Files:"))
+        self.AddWindow(ESI_files_label, border=10, 
+            flag=wx.TOP|wx.LEFT|wx.RIGHT)
+        
+        folder_tree_sizer = wx.FlexGridSizer(cols=2, hgap=5, rows=1, vgap=0)
+        folder_tree_sizer.AddGrowableCol(0)
+        folder_tree_sizer.AddGrowableRow(0)
+        self.AddSizer(folder_tree_sizer, border=10, 
+            flag=wx.GROW|wx.LEFT|wx.RIGHT)
+        
+        self.ESIFiles = FolderTree(parent, self.GetPath(), editable=False)
+        self.ESIFiles.SetFilter(".xml")
+        folder_tree_sizer.AddWindow(self.ESIFiles, flag=wx.GROW)
+        
+        buttons_sizer = wx.BoxSizer(wx.VERTICAL)
+        folder_tree_sizer.AddSizer(buttons_sizer, 
+            flag=wx.ALIGN_CENTER_VERTICAL)
+        
+        for idx, (name, bitmap, help, callback) in enumerate(buttons):
+            button = wx.lib.buttons.GenBitmapButton(parent, 
+                  bitmap=GetBitmap(bitmap), 
+                  size=wx.Size(28, 28), style=wx.NO_BORDER)
+            button.SetToolTipString(help)
+            setattr(self, name, button)
+            if idx > 0:
+                flag = wx.TOP
+            else:
+                flag = 0
+            if callback is None:
+                callback = getattr(self, "On" + name, None)
+            if callback is not None:
+                parent.Bind(wx.EVT_BUTTON, callback, button)
+            buttons_sizer.AddWindow(button, border=10, flag=flag)
+        
+        modules_label = wx.StaticText(parent, 
+            label=_("Modules library:"))
+        self.AddSizer(modules_label, border=10, 
+            flag=wx.LEFT|wx.RIGHT)
+        
+        self.ModulesGrid = wx.gizmos.TreeListCtrl(parent,
+              style=wx.TR_DEFAULT_STYLE |
+                    wx.TR_ROW_LINES |
+                    wx.TR_COLUMN_LINES |
+                    wx.TR_HIDE_ROOT |
+                    wx.TR_FULL_ROW_HIGHLIGHT)
+        self.ModulesGrid.GetMainWindow().Bind(wx.EVT_LEFT_DOWN,
+            self.OnModulesGridLeftDown)
+        self.ModulesGrid.Bind(wx.EVT_TREE_BEGIN_LABEL_EDIT,
+            self.OnModulesGridBeginLabelEdit)
+        self.ModulesGrid.Bind(wx.EVT_TREE_END_LABEL_EDIT,
+            self.OnModulesGridEndLabelEdit)
+        self.ModulesGrid.GetHeaderWindow().Bind(wx.EVT_MOTION, 
+            self.OnModulesGridHeaderMotion)
+        self.AddWindow(self.ModulesGrid, border=10, 
+            flag=wx.GROW|wx.BOTTOM|wx.LEFT|wx.RIGHT)
+        
+        for colname, colsize, colalign in zip(
+                [_("Name")] + [param_infos["column_label"] 
+                               for param, param_infos in 
+                               self.ModuleLibrary.MODULES_EXTRA_PARAMS],
+                [400] + [param_infos["column_size"] 
+                         for param, param_infos in 
+                         self.ModuleLibrary.MODULES_EXTRA_PARAMS],
+                [wx.ALIGN_LEFT] + [wx.ALIGN_RIGHT] * len(self.ModuleLibrary.MODULES_EXTRA_PARAMS)):
+            self.ModulesGrid.AddColumn(_(colname), colsize, colalign, edit=True)
+        self.ModulesGrid.SetMainColumn(0)
+        
+        self.CurrentSelectedCol = None
+        self.LastToolTipCol = None
+    
+    def GetPath(self):
+        return self.ModuleLibrary.GetPath()
+    
+    def SetControlMinSize(self, size):
+        self.ESIFiles.SetMinSize(size)
+        self.ModulesGrid.SetMinSize(size)
+        
+    def GetSelectedFilePath(self):
+        return self.ESIFiles.GetPath()
+    
+    def RefreshView(self):
+        self.ESIFiles.RefreshTree()
+        self.RefreshModulesGrid()
+    
+    def RefreshModulesGrid(self):
+        root = self.ModulesGrid.GetRootItem()
+        if not root.IsOk():
+            root = self.ModulesGrid.AddRoot("Modules")
+        self.GenerateModulesGridBranch(root, 
+            self.ModuleLibrary.GetModulesLibrary(), 
+            GetVariablesTableColnames())
+        self.ModulesGrid.Expand(root)
+            
+    def GenerateModulesGridBranch(self, root, modules, colnames):
+        item, root_cookie = self.ModulesGrid.GetFirstChild(root)
+        
+        no_more_items = not item.IsOk()
+        for module in modules:
+            if no_more_items:
+                item = self.ModulesGrid.AppendItem(root, "")
+            self.ModulesGrid.SetItemText(item, module["name"], 0)
+            if module["infos"] is not None:
+                for param_idx, (param, param_infos) in enumerate(self.ModuleLibrary.MODULES_EXTRA_PARAMS):
+                    self.ModulesGrid.SetItemText(item, 
+                                                 str(module["infos"][param]), 
+                                                 param_idx + 1)
+            else:
+                self.ModulesGrid.SetItemBackgroundColour(item, wx.LIGHT_GREY)
+            self.ModulesGrid.SetItemPyData(item, module["infos"])
+            self.GenerateModulesGridBranch(item, module["children"], colnames)
+            if not no_more_items:
+                item, root_cookie = self.ModulesGrid.GetNextChild(root, root_cookie)
+                no_more_items = not item.IsOk()
+        
+        if not no_more_items:
+            to_delete = []
+            while item.IsOk():
+                to_delete.append(item)
+                item, root_cookie = self.ModulesGrid.GetNextChild(root, root_cookie)
+            for item in to_delete:
+                self.ModulesGrid.Delete(item)
+    
+    def OnImportButton(self, event):
+        dialog = wx.FileDialog(self.ParentWindow,
+             _("Choose an XML file"), 
+             os.getcwd(), "",  
+             _("XML files (*.xml)|*.xml|All files|*.*"), wx.OPEN)
+        
+        if dialog.ShowModal() == wx.ID_OK:
+            filepath = dialog.GetPath()
+            if self.ModuleLibrary.ImportModuleLibrary(filepath):
+                wx.CallAfter(self.RefreshView)
+            else:
+                message = wx.MessageDialog(self, 
+                    _("No such XML file: %s\n") % filepath, 
+                    _("Error"), wx.OK|wx.ICON_ERROR)
+                message.ShowModal()
+                message.Destroy()
+        dialog.Destroy()
+        
+        event.Skip()
+    
+    def OnDeleteButton(self, event):
+        filepath = self.GetSelectedFilePath()
+        if os.path.isfile(filepath):
+            folder, filename = os.path.split(filepath)
+            
+            dialog = wx.MessageDialog(self.ParentWindow, 
+                  _("Do you really want to delete the file '%s'?") % filename, 
+                  _("Delete File"), wx.YES_NO|wx.ICON_QUESTION)
+            remove = dialog.ShowModal() == wx.ID_YES
+            dialog.Destroy()
+            
+            if remove:
+                os.remove(filepath)
+                self.ModuleLibrary.LoadModules()
+                wx.CallAfter(self.RefreshView)
+        event.Skip()
+    
+    def OnModulesGridLeftDown(self, event):
+        item, flags, col = self.ModulesGrid.HitTest(event.GetPosition())
+        if item.IsOk():
+            entry_infos = self.ModulesGrid.GetItemPyData(item)
+            if entry_infos is not None and col > 0:
+                self.CurrentSelectedCol = col
+            else:
+                self.CurrentSelectedCol = None
+        else:
+            self.CurrentSelectedCol = None
+        event.Skip()
+
+    def OnModulesGridBeginLabelEdit(self, event):
+        item = event.GetItem()
+        if item.IsOk():
+            entry_infos = self.ModulesGrid.GetItemPyData(item)
+            if entry_infos is not None:
+                event.Skip()
+            else:
+                event.Veto()
+        else:
+            event.Veto()
+
+    def OnModulesGridEndLabelEdit(self, event):
+        item = event.GetItem()
+        if item.IsOk() and self.CurrentSelectedCol is not None:
+            entry_infos = self.ModulesGrid.GetItemPyData(item)
+            if entry_infos is not None and self.CurrentSelectedCol > 0:
+                param, param_infos = self.ModuleLibrary.MODULES_EXTRA_PARAMS[self.CurrentSelectedCol - 1]
+                stripped_column_label = param_infos["column_label"].split('(')[0].strip()
+                try:
+                    self.ModuleLibrary.SetModuleExtraParam(
+                        entry_infos["vendor"],
+                        entry_infos["product_code"],
+                        entry_infos["revision_number"],
+                        param,
+                        int(event.GetLabel()))
+                    wx.CallAfter(self.RefreshModulesGrid)
+                    event.Skip()
+                except ValueError:
+                    message = wx.MessageDialog(self, 
+                        _("Module %s must be an integer!") % stripped_column_label, 
+                        _("Error"), wx.OK|wx.ICON_ERROR)
+                    message.ShowModal()
+                    message.Destroy()
+                    event.Veto()
+            else:
+                event.Veto()
+        else:
+            event.Veto()
+                
+    def OnModulesGridHeaderMotion(self, event):
+        item, flags, col = self.ModulesGrid.HitTest(event.GetPosition())
+        if col != self.LastToolTipCol and self.LastToolTipCol is not None:
+            self.ModulesGrid.GetHeaderWindow().SetToolTip(None)
+            self.LastToolTipCol = None
+        if col > 0 and self.LastToolTipCol != col:
+            self.LastToolTipCol = col
+            param, param_infos = self.ModuleLibrary.MODULES_EXTRA_PARAMS[col - 1]
+            wx.CallAfter(self.ModulesGrid.GetHeaderWindow().SetToolTipString, 
+                         param_infos["description"])
+        event.Skip()
+
+class DatabaseManagementDialog(wx.Dialog):
+    
+    def __init__(self, parent, database):
+        wx.Dialog.__init__(self, parent,
+              size=wx.Size(700, 500), title=_('ESI Files Database management'),
+              style=wx.DEFAULT_DIALOG_STYLE|wx.RESIZE_BORDER)
+        
+        main_sizer = wx.FlexGridSizer(cols=1, hgap=0, rows=2, vgap=10)
+        main_sizer.AddGrowableCol(0)
+        main_sizer.AddGrowableRow(0)
+        
+        self.DatabaseSizer = LibraryEditorSizer(self, database,
+            [("ImportButton", "ImportESI", _("Import file to ESI files database"), None),
+             ("DeleteButton", "remove_element", _("Remove file from database"), None)])
+        self.DatabaseSizer.SetControlMinSize(wx.Size(0, 0))
+        main_sizer.AddSizer(self.DatabaseSizer, border=10,
+            flag=wx.GROW|wx.TOP|wx.LEFT|wx.RIGHT)
+        
+        button_sizer = self.CreateButtonSizer(wx.OK|wx.CANCEL|wx.CENTRE)
+        button_sizer.GetAffirmativeButton().SetLabel(_("Add file to project"))
+        button_sizer.GetCancelButton().SetLabel(_("Close"))
+        main_sizer.AddSizer(button_sizer, border=10, 
+              flag=wx.ALIGN_RIGHT|wx.BOTTOM|wx.LEFT|wx.RIGHT)
+        
+        self.SetSizer(main_sizer)
+        
+        self.DatabaseSizer.RefreshView()
+        
+    def GetValue(self):
+        return self.DatabaseSizer.GetSelectedFilePath()
+
+class LibraryEditor(ConfTreeNodeEditor):
+    
+    CONFNODEEDITOR_TABS = [
+        (_("Modules Library"), "_create_ModuleLibraryEditor")]
+    
+    def _create_ModuleLibraryEditor(self, prnt):
+        self.ModuleLibraryEditor = wx.ScrolledWindow(prnt,
+            style=wx.TAB_TRAVERSAL|wx.HSCROLL|wx.VSCROLL)
+        self.ModuleLibraryEditor.Bind(wx.EVT_SIZE, self.OnResize)
+        
+        self.ModuleLibrarySizer = LibraryEditorSizer(self.ModuleLibraryEditor,
+            self.Controler.GetModulesLibraryInstance(),
+            [("ImportButton", "ImportESI", _("Import ESI file"), None),
+             ("AddButton", "ImportDatabase", _("Add file from ESI files database"), self.OnAddButton),
+             ("DeleteButton", "remove_element", _("Remove file from library"), None)])
+        self.ModuleLibrarySizer.SetControlMinSize(wx.Size(0, 200))
+        self.ModuleLibraryEditor.SetSizer(self.ModuleLibrarySizer)
+        
+        return self.ModuleLibraryEditor
+
+    def __init__(self, parent, controler, window):
+        ConfTreeNodeEditor.__init__(self, parent, controler, window)
+    
+        self.RefreshView()
+    
+    def RefreshView(self):
+        ConfTreeNodeEditor.RefreshView(self)
+        self.ModuleLibrarySizer.RefreshView()
+
+    def OnAddButton(self, event):
+        dialog = DatabaseManagementDialog(self, 
+            self.Controler.GetModulesDatabaseInstance())
+        
+        if dialog.ShowModal() == wx.ID_OK:
+            module_library = self.Controler.GetModulesLibraryInstance()
+            module_library.ImportModuleLibrary(dialog.GetValue())
+            
+        dialog.Destroy()
+        
+        wx.CallAfter(self.ModuleLibrarySizer.RefreshView)
+        
+        event.Skip()
+
+    def OnResize(self, event):
+        self.ModuleLibraryEditor.GetBestSize()
+        xstart, ystart = self.ModuleLibraryEditor.GetViewStart()
+        window_size = self.ModuleLibraryEditor.GetClientSize()
+        maxx, maxy = self.ModuleLibraryEditor.GetMinSize()
+        posx = max(0, min(xstart, (maxx - window_size[0]) / SCROLLBAR_UNIT))
+        posy = max(0, min(ystart, (maxy - window_size[1]) / SCROLLBAR_UNIT))
+        self.ModuleLibraryEditor.Scroll(posx, posy)
+        self.ModuleLibraryEditor.SetScrollbars(SCROLLBAR_UNIT, SCROLLBAR_UNIT, 
+                maxx / SCROLLBAR_UNIT, maxy / SCROLLBAR_UNIT, posx, posy)
+        event.Skip()
+        
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/etherlab/EtherCATBase.xsd	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,654 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!-- edited with XMLSpy v2006 sp2 U (http://www.altova.com) by Beckmann (BECKHOFF Automation GmbH) -->
+<xs:schema xmlns:xs="http://www.w3.org/2001/XMLSchema" elementFormDefault="qualified" attributeFormDefault="unqualified">
+	<xs:complexType name="AccessType">
+		<xs:simpleContent>
+			<xs:extension base="xs:NMTOKEN">
+				<xs:attribute name="ReadRestrictions">
+					<xs:simpleType>
+						<xs:restriction base="xs:NMTOKEN">
+							<xs:enumeration value="PreOp"/>
+							<xs:enumeration value="PreOP_SafeOP"/>
+							<xs:enumeration value="PreOP_OP"/>
+							<xs:enumeration value="SafeOP"/>
+							<xs:enumeration value="SafeOP_OP"/>
+							<xs:enumeration value="OP"/>
+						</xs:restriction>
+					</xs:simpleType>
+				</xs:attribute>
+				<xs:attribute name="WriteRestrictions">
+					<xs:simpleType>
+						<xs:restriction base="xs:NMTOKEN">
+							<xs:enumeration value="PreOp"/>
+							<xs:enumeration value="PreOP_SafeOP"/>
+							<xs:enumeration value="PreOP_OP"/>
+							<xs:enumeration value="SafeOP"/>
+							<xs:enumeration value="SafeOP_OP"/>
+							<xs:enumeration value="OP"/>
+						</xs:restriction>
+					</xs:simpleType>
+				</xs:attribute>
+			</xs:extension>
+		</xs:simpleContent>
+	</xs:complexType>
+	<xs:complexType name="ArrayInfoType">
+		<xs:sequence>
+			<xs:element name="LBound" type="xs:integer"/>
+			<xs:element name="Elements" type="xs:integer"/>
+		</xs:sequence>
+	</xs:complexType>
+	<xs:complexType name="DataTypeType">
+		<xs:sequence>
+			<xs:element name="Index" type="HexDecValue" minOccurs="0"/>
+			<xs:element name="Name" type="xs:string"/>
+			<xs:element name="BaseType" type="xs:string" minOccurs="0"/>
+			<xs:element name="Comment" type="NameType" minOccurs="0" maxOccurs="unbounded"/>
+			<xs:element name="BitSize" type="xs:int"/>
+			<xs:choice minOccurs="0">
+				<xs:element name="ArrayInfo" type="ArrayInfoType" minOccurs="0" maxOccurs="3"/>
+				<xs:element name="SubItem" type="SubItemType" minOccurs="0" maxOccurs="unbounded"/>
+				<xs:element name="EnumInfo" type="EnumInfoType" minOccurs="0" maxOccurs="unbounded"/>
+			</xs:choice>
+			<xs:element name="Properties" minOccurs="0">
+				<xs:complexType>
+					<xs:sequence>
+						<xs:element name="Property" type="PropertyType" minOccurs="0" maxOccurs="unbounded"/>
+					</xs:sequence>
+				</xs:complexType>
+			</xs:element>
+			<xs:element name="Xml" minOccurs="0">
+				<xs:complexType>
+					<xs:sequence>
+						<xs:any processContents="lax" minOccurs="0" maxOccurs="unbounded"/>
+					</xs:sequence>
+				</xs:complexType>
+			</xs:element>
+		</xs:sequence>
+	</xs:complexType>
+	<xs:complexType name="PropertyType">
+		<xs:sequence>
+			<xs:element name="Name" type="xs:string"/>
+			<xs:element name="Value" type="xs:string" minOccurs="0"/>
+			<xs:element name="Desc" type="NameType" minOccurs="0"/>
+		</xs:sequence>
+	</xs:complexType>
+	<xs:complexType name="SubItemType">
+		<xs:sequence>
+			<xs:element name="SubIdx" type="HexDecValue" minOccurs="0"/>
+			<xs:element name="Name" type="xs:string"/>
+			<xs:element name="DisplayName" type="NameType" minOccurs="0" maxOccurs="unbounded">
+				<xs:annotation>
+					<xs:documentation>for future use</xs:documentation>
+				</xs:annotation>
+			</xs:element>
+			<xs:element name="Type" type="xs:string"/>
+			<xs:element name="Comment" type="NameType" minOccurs="0" maxOccurs="unbounded"/>
+			<xs:element name="BitSize" type="xs:int"/>
+			<xs:element name="BitOffs" type="xs:int"/>
+			<xs:choice minOccurs="0">
+				<xs:element name="DefaultString" type="xs:string" minOccurs="0">
+					<xs:annotation>
+						<xs:documentation>obsolete</xs:documentation>
+					</xs:annotation>
+				</xs:element>
+				<xs:element name="DefaultData" type="xs:hexBinary" minOccurs="0">
+					<xs:annotation>
+						<xs:documentation>obsolete</xs:documentation>
+					</xs:annotation>
+				</xs:element>
+				<xs:sequence minOccurs="0">
+					<xs:element name="MinValue" type="HexDecValue" minOccurs="0">
+						<xs:annotation>
+							<xs:documentation>obsolete</xs:documentation>
+						</xs:annotation>
+					</xs:element>
+					<xs:element name="MaxValue" type="HexDecValue" minOccurs="0">
+						<xs:annotation>
+							<xs:documentation>obsolete</xs:documentation>
+						</xs:annotation>
+					</xs:element>
+					<xs:element name="DefaultValue" type="HexDecValue" minOccurs="0">
+						<xs:annotation>
+							<xs:documentation>obsolete</xs:documentation>
+						</xs:annotation>
+					</xs:element>
+				</xs:sequence>
+			</xs:choice>
+			<xs:element name="Flags" minOccurs="0">
+				<xs:complexType>
+					<xs:sequence>
+						<xs:element name="Access" minOccurs="0">
+							<xs:complexType>
+								<xs:simpleContent>
+									<xs:restriction base="AccessType">
+										<xs:pattern value="ro"/>
+										<xs:pattern value="rw"/>
+										<xs:pattern value="wo"/>
+									</xs:restriction>
+								</xs:simpleContent>
+							</xs:complexType>
+						</xs:element>
+						<xs:element name="Category" minOccurs="0">
+							<xs:simpleType>
+								<xs:restriction base="xs:NMTOKEN">
+									<xs:enumeration value="m"/>
+									<xs:enumeration value="o"/>
+									<xs:enumeration value="c"/>
+								</xs:restriction>
+							</xs:simpleType>
+						</xs:element>
+						<xs:element name="PdoMapping" minOccurs="0">
+							<xs:simpleType>
+								<xs:restriction base="xs:NMTOKEN">
+									<xs:enumeration value="T"/>
+									<xs:enumeration value="R"/>
+									<xs:enumeration value="TR"/>
+									<xs:enumeration value="RT"/>
+									<xs:enumeration value="t"/>
+									<xs:enumeration value="r"/>
+									<xs:enumeration value="tr"/>
+									<xs:enumeration value="rt"/>
+								</xs:restriction>
+							</xs:simpleType>
+						</xs:element>
+						<xs:element name="SafetyMapping" minOccurs="0">
+							<xs:simpleType>
+								<xs:restriction base="xs:NMTOKEN">
+									<xs:enumeration value="si"/>
+									<xs:enumeration value="SI"/>
+									<xs:enumeration value="so"/>
+									<xs:enumeration value="SO"/>
+									<xs:enumeration value="sio"/>
+									<xs:enumeration value="SIO"/>
+									<xs:enumeration value="sp"/>
+									<xs:enumeration value="SP"/>
+								</xs:restriction>
+							</xs:simpleType>
+						</xs:element>
+						<xs:element name="Attribute" type="HexDecValue" minOccurs="0"/>
+						<xs:element name="Backup" type="xs:int" minOccurs="0"/>
+						<xs:element name="Setting" type="xs:int" minOccurs="0"/>
+					</xs:sequence>
+				</xs:complexType>
+			</xs:element>
+			<xs:element name="Property" type="PropertyType" minOccurs="0" maxOccurs="unbounded"/>
+			<xs:element name="Xml" minOccurs="0">
+				<xs:annotation>
+					<xs:documentation>obsolete</xs:documentation>
+				</xs:annotation>
+				<xs:complexType>
+					<xs:sequence>
+						<xs:any processContents="lax" minOccurs="0" maxOccurs="unbounded"/>
+					</xs:sequence>
+				</xs:complexType>
+			</xs:element>
+		</xs:sequence>
+	</xs:complexType>
+	<xs:complexType name="EnumInfoType">
+		<xs:sequence>
+			<xs:element name="Text" type="NameType" maxOccurs="unbounded"/>
+			<xs:element name="Enum" type="xs:int"/>
+			<xs:element name="Comment" type="NameType" minOccurs="0" maxOccurs="unbounded"/>
+		</xs:sequence>
+	</xs:complexType>
+	<xs:complexType name="NameType">
+		<xs:simpleContent>
+			<xs:extension base="xs:string">
+				<xs:attribute name="LcId" type="xs:integer" use="optional" default="1033"/>
+			</xs:extension>
+		</xs:simpleContent>
+	</xs:complexType>
+	<xs:complexType name="DictionaryType">
+		<xs:sequence>
+			<xs:element name="DataTypes" minOccurs="0">
+				<xs:complexType>
+					<xs:sequence>
+						<xs:element name="DataType" type="DataTypeType" minOccurs="0" maxOccurs="unbounded">
+							<xs:key name="SubItemKey">
+								<xs:selector xpath="./SubItem"/>
+								<xs:field xpath="Name"/>
+							</xs:key>
+						</xs:element>
+					</xs:sequence>
+				</xs:complexType>
+				<xs:key name="DataTypeKey">
+					<xs:selector xpath="./DataType"/>
+					<xs:field xpath="Name"/>
+				</xs:key>
+				<xs:keyref name="BaseTypeRef" refer="DataTypeKey">
+					<xs:selector xpath="./DataType"/>
+					<xs:field xpath="BaseType"/>
+				</xs:keyref>
+				<xs:keyref name="SubItemTypeRef" refer="DataTypeKey">
+					<xs:selector xpath="./DataType/SubItem"/>
+					<xs:field xpath="Type"/>
+				</xs:keyref>
+			</xs:element>
+			<xs:element name="Objects">
+				<xs:complexType>
+					<xs:sequence>
+						<xs:element name="Object" type="ObjectType" minOccurs="0" maxOccurs="unbounded"/>
+					</xs:sequence>
+				</xs:complexType>
+			</xs:element>
+		</xs:sequence>
+	</xs:complexType>
+	<xs:simpleType name="HexDecValue">
+		<xs:restriction base="xs:string">
+			<xs:pattern value="[+-]?[0-9]{1,}"/>
+			<xs:pattern value="#x[0-9|a-f|A-F]{1,}"/>
+		</xs:restriction>
+	</xs:simpleType>
+	<xs:complexType name="ObjectType">
+		<xs:sequence>
+			<xs:element name="Index">
+				<xs:complexType>
+					<xs:simpleContent>
+						<xs:extension base="HexDecValue">
+							<xs:attribute name="DependOnSlot" type="xs:boolean" use="optional"/>
+							<xs:attribute name="DependOnSlotGroup" type="xs:boolean" use="optional"/>
+							<xs:attribute name="OverwrittenByModule" type="xs:boolean" use="optional"/>
+						</xs:extension>
+					</xs:simpleContent>
+				</xs:complexType>
+			</xs:element>
+			<xs:element name="Name" type="NameType" maxOccurs="unbounded"/>
+			<xs:element name="Comment" type="NameType" minOccurs="0" maxOccurs="unbounded"/>
+			<xs:element name="Type" type="xs:string"/>
+			<xs:element name="BitSize" type="xs:int"/>
+			<xs:element name="Info" type="ObjectInfoType" minOccurs="0"/>
+			<xs:element name="Flags" minOccurs="0">
+				<xs:complexType>
+					<xs:sequence>
+						<xs:element name="Access" minOccurs="0">
+							<xs:complexType>
+								<xs:simpleContent>
+									<xs:restriction base="AccessType">
+										<xs:pattern value="ro"/>
+										<xs:pattern value="rw"/>
+										<xs:pattern value="wo"/>
+									</xs:restriction>
+								</xs:simpleContent>
+							</xs:complexType>
+						</xs:element>
+						<xs:element name="Category" minOccurs="0">
+							<xs:simpleType>
+								<xs:restriction base="xs:NMTOKEN">
+									<xs:enumeration value="m"/>
+									<xs:enumeration value="o"/>
+									<xs:enumeration value="c"/>
+								</xs:restriction>
+							</xs:simpleType>
+						</xs:element>
+						<xs:element name="PdoMapping" minOccurs="0">
+							<xs:simpleType>
+								<xs:restriction base="xs:NMTOKEN">
+									<xs:enumeration value="T"/>
+									<xs:enumeration value="R"/>
+									<xs:enumeration value="TR"/>
+									<xs:enumeration value="RT"/>
+									<xs:enumeration value="t"/>
+									<xs:enumeration value="r"/>
+									<xs:enumeration value="tr"/>
+									<xs:enumeration value="rt"/>
+								</xs:restriction>
+							</xs:simpleType>
+						</xs:element>
+						<xs:element name="SafetyMapping" minOccurs="0">
+							<xs:simpleType>
+								<xs:restriction base="xs:NMTOKEN">
+									<xs:enumeration value="si"/>
+									<xs:enumeration value="SI"/>
+									<xs:enumeration value="so"/>
+									<xs:enumeration value="SO"/>
+									<xs:enumeration value="sio"/>
+									<xs:enumeration value="SIO"/>
+									<xs:enumeration value="sp"/>
+									<xs:enumeration value="SP"/>
+								</xs:restriction>
+							</xs:simpleType>
+						</xs:element>
+						<xs:element name="Attribute" type="HexDecValue" minOccurs="0"/>
+						<xs:element name="Transition" minOccurs="0">
+							<xs:annotation>
+								<xs:documentation>obsolete</xs:documentation>
+							</xs:annotation>
+							<xs:simpleType>
+								<xs:restriction base="xs:NMTOKEN">
+									<xs:enumeration value="IP"/>
+									<xs:enumeration value="PS"/>
+									<xs:enumeration value="SO"/>
+								</xs:restriction>
+							</xs:simpleType>
+						</xs:element>
+						<xs:element name="SdoAccess" minOccurs="0">
+							<xs:simpleType>
+								<xs:restriction base="xs:NMTOKEN">
+									<xs:enumeration value="CompleteAccess"/>
+									<xs:enumeration value="SubIndexAccess"/>
+								</xs:restriction>
+							</xs:simpleType>
+						</xs:element>
+					</xs:sequence>
+				</xs:complexType>
+			</xs:element>
+			<xs:element name="Properties" minOccurs="0">
+				<xs:complexType>
+					<xs:sequence>
+						<xs:element name="Property" type="PropertyType" minOccurs="0" maxOccurs="unbounded"/>
+					</xs:sequence>
+				</xs:complexType>
+			</xs:element>
+			<xs:element name="Xml" minOccurs="0">
+				<xs:complexType>
+					<xs:sequence>
+						<xs:any processContents="lax" minOccurs="0" maxOccurs="unbounded"/>
+					</xs:sequence>
+				</xs:complexType>
+			</xs:element>
+		</xs:sequence>
+	</xs:complexType>
+	<xs:complexType name="ObjectInfoType">
+		<xs:sequence minOccurs="0">
+			<xs:choice>
+				<xs:element name="DefaultString" type="xs:string" minOccurs="0"/>
+				<xs:sequence minOccurs="0">
+					<xs:element name="MinData" type="xs:hexBinary" minOccurs="0"/>
+					<xs:element name="MaxData" type="xs:hexBinary" minOccurs="0"/>
+					<xs:element name="DefaultData" type="xs:hexBinary" minOccurs="0"/>
+				</xs:sequence>
+				<xs:sequence minOccurs="0">
+					<xs:element name="MinValue" type="HexDecValue" minOccurs="0"/>
+					<xs:element name="MaxValue" type="HexDecValue" minOccurs="0"/>
+					<xs:element name="DefaultValue" type="HexDecValue" minOccurs="0"/>
+				</xs:sequence>
+				<xs:element name="SubItem" minOccurs="0" maxOccurs="unbounded">
+					<xs:complexType>
+						<xs:sequence>
+							<xs:element name="Name" type="xs:string"/>
+							<xs:element name="Info" type="ObjectInfoType"/>
+						</xs:sequence>
+					</xs:complexType>
+				</xs:element>
+			</xs:choice>
+			<xs:element name="Unit" type="HexDecValue" minOccurs="0"/>
+		</xs:sequence>
+	</xs:complexType>
+	<xs:complexType name="EntryType">
+		<xs:sequence>
+			<xs:element name="Index">
+				<xs:complexType>
+					<xs:simpleContent>
+						<xs:extension base="HexDecValue">
+							<xs:attribute name="DependOnSlot" type="xs:boolean" use="optional"/>
+							<xs:attribute name="DependOnSlotGroup" type="xs:boolean" use="optional"/>
+						</xs:extension>
+					</xs:simpleContent>
+				</xs:complexType>
+			</xs:element>
+			<xs:element name="SubIndex" type="HexDecValue" minOccurs="0"/>
+			<xs:element name="BitLen" type="xs:int"/>
+			<xs:element name="Name" type="NameType" minOccurs="0" maxOccurs="unbounded"/>
+			<xs:element name="Comment" type="xs:string" minOccurs="0"/>
+			<xs:element name="DataType" minOccurs="0">
+				<xs:complexType>
+					<xs:simpleContent>
+						<xs:extension base="xs:string">
+							<xs:attribute name="DScale" use="optional">
+								<xs:simpleType>
+									<xs:restriction base="xs:string">
+										<xs:enumeration value="+/-10"/>
+										<xs:enumeration value="0-10"/>
+										<xs:enumeration value="0-20"/>
+										<xs:enumeration value="4-20"/>
+										<xs:enumeration value="0.1°"/>
+										<xs:enumeration value="0-10(16)"/>
+										<xs:enumeration value="0-20(16)"/>
+										<xs:enumeration value="4-20(16)"/>
+										<xs:enumeration value="0.01°"/>
+										<xs:enumeration value="0-5"/>
+										<xs:enumeration value="0-30"/>
+										<xs:enumeration value="0-50"/>
+										<xs:enumeration value="+/-5"/>
+										<xs:enumeration value="+/-2.5"/>
+										<xs:enumeration value="+/-100"/>
+										<xs:enumeration value="0-5(16)"/>
+										<xs:enumeration value="0-30(16)"/>
+										<xs:enumeration value="0-50(16)"/>
+										<xs:enumeration value="+/-75mV"/>
+									</xs:restriction>
+								</xs:simpleType>
+							</xs:attribute>
+							<xs:attribute name="SwapData" use="optional">
+								<xs:simpleType>
+									<xs:restriction base="xs:NMTOKEN">
+										<xs:enumeration value="Swap_HB_LB"/>
+										<xs:enumeration value="Swap_HW_LW"/>
+										<xs:enumeration value="Swap_HB_LB_HW_LW"/>
+									</xs:restriction>
+								</xs:simpleType>
+							</xs:attribute>
+						</xs:extension>
+					</xs:simpleContent>
+				</xs:complexType>
+			</xs:element>
+		</xs:sequence>
+	</xs:complexType>
+	<xs:complexType name="PdoType">
+		<xs:sequence>
+			<xs:element name="Index">
+				<xs:complexType>
+					<xs:simpleContent>
+						<xs:extension base="HexDecValue">
+							<xs:attribute name="DependOnSlot" type="xs:boolean" use="optional"/>
+							<xs:attribute name="DependOnSlotGroup" type="xs:boolean" use="optional"/>
+						</xs:extension>
+					</xs:simpleContent>
+				</xs:complexType>
+			</xs:element>
+			<xs:element name="Name" type="NameType" maxOccurs="unbounded"/>
+			<xs:element name="Exclude" minOccurs="0" maxOccurs="unbounded">
+				<xs:complexType>
+					<xs:simpleContent>
+						<xs:extension base="HexDecValue">
+							<xs:attribute name="DependOnSlot" type="xs:boolean" use="optional"/>
+							<xs:attribute name="DependOnSlotGroup" type="xs:boolean" use="optional"/>
+						</xs:extension>
+					</xs:simpleContent>
+				</xs:complexType>
+			</xs:element>
+			<xs:element name="Entry" minOccurs="0" maxOccurs="unbounded">
+				<xs:complexType>
+					<xs:complexContent>
+						<xs:extension base="EntryType">
+							<xs:attribute name="Fixed" type="xs:boolean" use="optional"/>
+						</xs:extension>
+					</xs:complexContent>
+				</xs:complexType>
+			</xs:element>
+			<xs:element name="ExcludedSm" type="xs:int" minOccurs="0" maxOccurs="unbounded"/>
+		</xs:sequence>
+		<xs:attribute name="Fixed" type="xs:boolean" use="optional"/>
+		<xs:attribute name="Mandatory" type="xs:boolean" use="optional"/>
+		<xs:attribute name="Virtual" type="xs:boolean" use="optional"/>
+		<xs:attribute name="Sm" type="xs:int" use="optional"/>
+		<xs:attribute name="Su" type="xs:int" use="optional"/>
+		<xs:attribute name="PdoOrder" type="xs:int" use="optional">
+			<xs:annotation>
+				<xs:documentation>obsolete</xs:documentation>
+			</xs:annotation>
+		</xs:attribute>
+		<xs:attribute name="OSFac" type="xs:int" use="optional"/>
+		<xs:attribute name="OSMin" type="xs:int" use="optional"/>
+		<xs:attribute name="OSMax" type="xs:int" use="optional"/>
+		<xs:attribute name="OSIndexInc" type="xs:int" use="optional"/>
+		<xs:attribute name="OverwrittenByModule" type="xs:boolean" use="optional"/>
+	</xs:complexType>
+	<xs:complexType name="VendorSpecificType">
+		<xs:sequence>
+			<xs:any namespace="##any" processContents="skip" maxOccurs="unbounded"/>
+		</xs:sequence>
+	</xs:complexType>
+	<xs:complexType name="ProfileType">
+		<xs:sequence>
+			<xs:element name="ProfileNo" type="xs:int" minOccurs="0"/>
+			<xs:element name="AddInfo" type="xs:int" minOccurs="0"/>
+			<xs:choice minOccurs="0">
+				<xs:element name="ChannelCount" type="xs:int"/>
+				<xs:element name="ChannelInfo" maxOccurs="unbounded">
+					<xs:complexType>
+						<xs:sequence>
+							<xs:element name="ProfileNo" type="xs:int"/>
+							<xs:element name="AddInfo" type="xs:int" minOccurs="0"/>
+							<xs:element name="DisplayName" type="NameType" minOccurs="0" maxOccurs="unbounded"/>
+						</xs:sequence>
+						<xs:attribute name="OverwrittenByModule" type="xs:boolean" use="optional"/>
+					</xs:complexType>
+				</xs:element>
+			</xs:choice>
+			<xs:choice minOccurs="0">
+				<xs:element name="DictionaryFile" type="xs:string" minOccurs="0"/>
+				<xs:element name="Dictionary" type="DictionaryType" minOccurs="0">
+					<xs:keyref name="ObjectTypesRef" refer="DataTypesKey">
+						<xs:selector xpath="./Objects/Object"/>
+						<xs:field xpath="Type"/>
+					</xs:keyref>
+					<xs:key name="DataTypesKey">
+						<xs:selector xpath="./DataTypes/DataType"/>
+						<xs:field xpath="Name"/>
+					</xs:key>
+				</xs:element>
+			</xs:choice>
+			<xs:element name="DiagMessages" minOccurs="0">
+				<xs:complexType>
+					<xs:sequence>
+						<xs:element name="DiagMessage" maxOccurs="unbounded">
+							<xs:complexType>
+								<xs:sequence>
+									<xs:element name="TextId" type="HexDecValue"/>
+									<xs:element name="MessageText" type="NameType" maxOccurs="unbounded"/>
+								</xs:sequence>
+							</xs:complexType>
+						</xs:element>
+					</xs:sequence>
+				</xs:complexType>
+			</xs:element>
+			<xs:element name="VendorSpecific" type="VendorSpecificType" minOccurs="0"/>
+		</xs:sequence>
+	</xs:complexType>
+	<xs:complexType name="VendorType">
+		<xs:sequence>
+			<xs:element name="Id" type="HexDecValue"/>
+			<xs:element name="Name" type="NameType" maxOccurs="unbounded"/>
+			<xs:element name="Comment" type="NameType" minOccurs="0" maxOccurs="unbounded"/>
+			<xs:element name="URL" type="NameType" minOccurs="0" maxOccurs="unbounded"/>
+			<xs:element name="DescriptionURL" type="xs:string" minOccurs="0"/>
+			<xs:choice>
+				<xs:element name="Image16x14" type="xs:string" minOccurs="0">
+					<xs:annotation>
+						<xs:documentation>obsolete</xs:documentation>
+					</xs:annotation>
+				</xs:element>
+				<xs:element name="ImageFile16x14" type="xs:string" minOccurs="0"/>
+				<xs:element name="ImageData16x14" type="xs:hexBinary" minOccurs="0"/>
+			</xs:choice>
+			<xs:element name="VendorSpecific" type="VendorSpecificType" minOccurs="0"/>
+		</xs:sequence>
+		<xs:attribute name="UniqueName" type="xs:string" use="optional">
+			<xs:annotation>
+				<xs:documentation>obsolete</xs:documentation>
+			</xs:annotation>
+		</xs:attribute>
+	</xs:complexType>
+	<xs:complexType name="ModuleType">
+		<xs:sequence>
+			<xs:element name="Type">
+				<xs:complexType>
+					<xs:simpleContent>
+						<xs:extension base="xs:string">
+							<xs:attribute name="ModuleIdent" type="HexDecValue" use="required"/>
+							<xs:attribute name="ModuleClass" type="xs:string" use="optional"/>
+							<xs:attribute name="ModulePdoGroup" type="xs:int" use="optional"/>
+						</xs:extension>
+					</xs:simpleContent>
+				</xs:complexType>
+			</xs:element>
+			<xs:element name="Name" type="NameType" maxOccurs="unbounded"/>
+			<xs:element name="RxPdo" type="PdoType" minOccurs="0" maxOccurs="unbounded"/>
+			<xs:element name="TxPdo" type="PdoType" minOccurs="0" maxOccurs="unbounded"/>
+			<xs:element name="SafetyParaMapping" type="PdoType" minOccurs="0"/>
+			<xs:element name="Mailbox" minOccurs="0">
+				<xs:complexType>
+					<xs:sequence>
+						<xs:element name="CoE" minOccurs="0">
+							<xs:complexType>
+								<xs:sequence>
+									<xs:element name="InitCmd" minOccurs="0" maxOccurs="unbounded">
+										<xs:complexType>
+											<xs:sequence>
+												<xs:element name="Transition" maxOccurs="unbounded">
+													<xs:simpleType>
+														<xs:restriction base="xs:NMTOKEN">
+															<xs:enumeration value="PS"/>
+															<xs:enumeration value="SO"/>
+															<xs:enumeration value="SP"/>
+															<xs:enumeration value="OP"/>
+															<xs:enumeration value="OS"/>
+														</xs:restriction>
+													</xs:simpleType>
+												</xs:element>
+												<xs:element name="Index">
+													<xs:complexType>
+														<xs:simpleContent>
+															<xs:extension base="HexDecValue">
+																<xs:attribute name="DependOnSlot" type="xs:boolean" use="optional"/>
+																<xs:attribute name="DependOnSlotGroup" type="xs:boolean" use="optional"/>
+															</xs:extension>
+														</xs:simpleContent>
+													</xs:complexType>
+												</xs:element>
+												<xs:element name="SubIndex" type="HexDecValue"/>
+												<xs:element name="Data">
+													<xs:complexType>
+														<xs:simpleContent>
+															<xs:extension base="xs:hexBinary">
+																<xs:attribute name="AdaptAutomatically" type="xs:boolean" use="optional"/>
+															</xs:extension>
+														</xs:simpleContent>
+													</xs:complexType>
+												</xs:element>
+												<xs:element name="Comment" type="xs:string" minOccurs="0"/>
+											</xs:sequence>
+											<xs:attribute name="Fixed" type="xs:boolean" use="optional"/>
+											<xs:attribute name="CompleteAccess" type="xs:boolean" use="optional"/>
+										</xs:complexType>
+									</xs:element>
+								</xs:sequence>
+								<xs:attribute name="SdoInfo" type="xs:boolean" use="optional"/>
+								<xs:attribute name="PdoAssign" type="xs:boolean" use="optional"/>
+								<xs:attribute name="PdoConfig" type="xs:boolean" use="optional"/>
+								<xs:attribute name="PdoUpload" type="xs:boolean" use="optional"/>
+								<xs:attribute name="CompleteAccess" type="xs:boolean" use="optional"/>
+								<xs:attribute name="EdsFile" type="xs:string" use="optional"/>
+								<xs:attribute name="SegmentedSdo" type="xs:boolean" use="optional"/>
+								<xs:attribute name="ModuleOD" type="xs:boolean" use="optional"/>
+							</xs:complexType>
+						</xs:element>
+					</xs:sequence>
+				</xs:complexType>
+			</xs:element>
+			<xs:element name="Profile" type="ProfileType" minOccurs="0"/>
+			<xs:element name="DcOpModeName" type="xs:string" minOccurs="0"/>
+			<xs:choice minOccurs="0">
+				<xs:element name="Image16x14" type="xs:string" minOccurs="0">
+					<xs:annotation>
+						<xs:documentation>obsolete</xs:documentation>
+					</xs:annotation>
+				</xs:element>
+				<xs:element name="ImageFile16x14" type="xs:string" minOccurs="0"/>
+				<xs:element name="ImageData16x14" type="xs:hexBinary" minOccurs="0"/>
+			</xs:choice>
+			<xs:element name="VendorSpecific" type="VendorSpecificType" minOccurs="0"/>
+		</xs:sequence>
+	</xs:complexType>
+</xs:schema>
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/etherlab/EtherCATConfig.xsd	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,1122 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<xs:schema xmlns:xs="http://www.w3.org/2001/XMLSchema" elementFormDefault="qualified" attributeFormDefault="unqualified">
+	<xs:element name="EtherCATConfig">
+		<xs:complexType>
+			<xs:sequence>
+				<xs:element name="Config">
+					<xs:complexType>
+						<xs:sequence>
+							<xs:element name="Master">
+								<xs:annotation>
+									<xs:documentation>Description of the master </xs:documentation>
+								</xs:annotation>
+								<xs:complexType>
+									<xs:sequence>
+										<xs:element name="Info">
+											<xs:annotation>
+												<xs:documentation>General information abaout the master</xs:documentation>
+											</xs:annotation>
+											<xs:complexType>
+												<xs:sequence>
+													<xs:element name="Name" type="xs:string">
+														<xs:annotation>
+															<xs:documentation>name of the master</xs:documentation>
+														</xs:annotation>
+													</xs:element>
+													<xs:element name="Destination" type="xs:hexBinary">
+														<xs:annotation>
+															<xs:documentation>destination MAC address</xs:documentation>
+														</xs:annotation>
+													</xs:element>
+													<xs:element name="Source" type="xs:hexBinary">
+														<xs:annotation>
+															<xs:documentation>source MAC address</xs:documentation>
+														</xs:annotation>
+													</xs:element>
+													<xs:element name="EtherType" type="xs:hexBinary" minOccurs="0">
+														<xs:annotation>
+															<xs:documentation>Ether type.</xs:documentation>
+														</xs:annotation>
+													</xs:element>
+												</xs:sequence>
+											</xs:complexType>
+										</xs:element>
+										<xs:element name="MailboxStates" minOccurs="0">
+											<xs:annotation>
+												<xs:documentation>If this tag exists the master checks the mailbox of one or more slaves for new messages during the cylcic process data communication.</xs:documentation>
+											</xs:annotation>
+											<xs:complexType>
+												<xs:sequence>
+													<xs:element name="StartAddr" type="xs:int">
+														<xs:annotation>
+															<xs:documentation>Start address of the logical address area, that is configured to the written bit of the input mailibox sync manager. In the cyclic frame the master will then include a LRD command with laddr = StartAddr.</xs:documentation>
+														</xs:annotation>
+													</xs:element>
+													<xs:element name="Count" type="xs:int">
+														<xs:annotation>
+															<xs:documentation>Number of slave devices of which the state of the mailbox is tested by the master.</xs:documentation>
+														</xs:annotation>
+													</xs:element>
+												</xs:sequence>
+											</xs:complexType>
+										</xs:element>
+										<xs:element name="EoE" minOccurs="0">
+											<xs:annotation>
+												<xs:documentation>Ethernet over EtherCAT settings</xs:documentation>
+											</xs:annotation>
+											<xs:complexType>
+												<xs:sequence>
+													<xs:element name="MaxPorts" type="xs:int"/>
+													<xs:element name="MaxFrames" type="xs:int"/>
+													<xs:element name="MaxMACs" type="xs:int"/>
+												</xs:sequence>
+											</xs:complexType>
+										</xs:element>
+										<xs:element name="InitCmds" minOccurs="0">
+											<xs:annotation>
+												<xs:documentation>Initialization commands that are directed at all slaves.</xs:documentation>
+											</xs:annotation>
+											<xs:complexType>
+												<xs:sequence>
+													<xs:element name="InitCmd" type="ECatCmdType" minOccurs="0" maxOccurs="unbounded"/>
+												</xs:sequence>
+											</xs:complexType>
+										</xs:element>
+									</xs:sequence>
+								</xs:complexType>
+							</xs:element>
+							<xs:element name="Slave" minOccurs="0" maxOccurs="unbounded">
+								<xs:annotation>
+									<xs:documentation>Description of one or more EtherCAT slave devices.</xs:documentation>
+								</xs:annotation>
+								<xs:complexType>
+									<xs:sequence>
+										<xs:element name="Info">
+											<xs:annotation>
+												<xs:documentation>General information about the EtherCAT slave device</xs:documentation>
+											</xs:annotation>
+											<xs:complexType>
+												<xs:sequence>
+													<xs:element name="Name" type="xs:string">
+														<xs:annotation>
+															<xs:documentation>Name of  the slave device. </xs:documentation>
+														</xs:annotation>
+													</xs:element>
+													<xs:sequence minOccurs="0">
+														<xs:annotation>
+															<xs:documentation>Slave device has EtherCAT Slave Controller</xs:documentation>
+														</xs:annotation>
+														<xs:element name="PhysAddr" type="xs:int">
+															<xs:annotation>
+																<xs:documentation>Fixed EtherCAT address of the slave device.</xs:documentation>
+															</xs:annotation>
+														</xs:element>
+														<xs:element name="AutoIncAddr" type="xs:int">
+															<xs:annotation>
+																<xs:documentation>Auto Increment address of the slave device.</xs:documentation>
+															</xs:annotation>
+														</xs:element>
+														<xs:element name="Physics" type="PhysicsType">
+															<xs:annotation>
+																<xs:documentation>Physics at the individual ports(A,B,C,D) of the slave.</xs:documentation>
+															</xs:annotation>
+														</xs:element>
+													</xs:sequence>
+													<xs:element name="VendorId" type="xs:int">
+														<xs:annotation>
+															<xs:documentation>EtherCAT VendorId. VendorId, ProductCode and RevisionNo are used to identify a specific slave.</xs:documentation>
+														</xs:annotation>
+													</xs:element>
+													<xs:element name="ProductCode" type="xs:int"/>
+													<xs:element name="RevisionNo" type="xs:int"/>
+													<xs:element name="SerialNo" type="xs:int"/>
+													<xs:element name="ProductRevision" type="xs:string" minOccurs="0">
+														<xs:annotation>
+															<xs:documentation>User friendly name generated from ProductCode  and RevisionNo with the help of a vendor specific algorithmn</xs:documentation>
+														</xs:annotation>
+													</xs:element>
+												</xs:sequence>
+											</xs:complexType>
+										</xs:element>
+										<xs:element name="ProcessData" minOccurs="0">
+											<xs:annotation>
+												<xs:documentation>Description of the process data of this slave</xs:documentation>
+											</xs:annotation>
+											<xs:complexType>
+												<xs:sequence>
+													<xs:element name="Send" minOccurs="0" maxOccurs="unbounded">
+														<xs:annotation>
+															<xs:documentation>Description of the output process data</xs:documentation>
+														</xs:annotation>
+														<xs:complexType>
+															<xs:sequence>
+																<xs:element name="BitStart" type="xs:int">
+																	<xs:annotation>
+																		<xs:documentation>Start address of the process data of this slave in the output image of the master</xs:documentation>
+																	</xs:annotation>
+																</xs:element>
+																<xs:element name="BitLength" type="xs:int">
+																	<xs:annotation>
+																		<xs:documentation>Length of the send process data</xs:documentation>
+																	</xs:annotation>
+																</xs:element>
+															</xs:sequence>
+														</xs:complexType>
+													</xs:element>
+													<xs:element name="Recv" minOccurs="0" maxOccurs="unbounded">
+														<xs:annotation>
+															<xs:documentation>Description of the input process data</xs:documentation>
+														</xs:annotation>
+														<xs:complexType>
+															<xs:sequence>
+																<xs:element name="BitStart" type="xs:int">
+																	<xs:annotation>
+																		<xs:documentation>Start address of the process data of this slave in the inpute image of the master</xs:documentation>
+																	</xs:annotation>
+																</xs:element>
+																<xs:element name="BitLength" type="xs:int">
+																	<xs:annotation>
+																		<xs:documentation>Length of the recv process data</xs:documentation>
+																	</xs:annotation>
+																</xs:element>
+															</xs:sequence>
+														</xs:complexType>
+													</xs:element>
+													<xs:element name="Sm0" type="SyncManagerSettings" minOccurs="0">
+														<xs:annotation>
+															<xs:documentation>Settings of sync manager 0</xs:documentation>
+														</xs:annotation>
+													</xs:element>
+													<xs:element name="Sm1" type="SyncManagerSettings" minOccurs="0">
+														<xs:annotation>
+															<xs:documentation>Settings of sync manager 1</xs:documentation>
+														</xs:annotation>
+													</xs:element>
+													<xs:element name="Sm2" type="SyncManagerSettings" minOccurs="0">
+														<xs:annotation>
+															<xs:documentation>Settings of sync manager 2</xs:documentation>
+														</xs:annotation>
+													</xs:element>
+													<xs:element name="Sm3" type="SyncManagerSettings" minOccurs="0">
+														<xs:annotation>
+															<xs:documentation>Settings of sync manager 3</xs:documentation>
+														</xs:annotation>
+													</xs:element>
+													<xs:choice minOccurs="0" maxOccurs="unbounded">
+														<xs:element name="RxPdo" type="PdoType">
+															<xs:annotation>
+																<xs:documentation>Ouput Pdos</xs:documentation>
+															</xs:annotation>
+														</xs:element>
+														<xs:element name="TxPdo" type="PdoType">
+															<xs:annotation>
+																<xs:documentation>Input Pdos</xs:documentation>
+															</xs:annotation>
+														</xs:element>
+													</xs:choice>
+												</xs:sequence>
+											</xs:complexType>
+										</xs:element>
+										<xs:element name="Mailbox" minOccurs="0">
+											<xs:annotation>
+												<xs:documentation>Mailbox settings</xs:documentation>
+											</xs:annotation>
+											<xs:complexType>
+												<xs:sequence>
+													<xs:element name="Send" type="MailboxSendInfoType">
+														<xs:annotation>
+															<xs:documentation>Output mailbox settings</xs:documentation>
+														</xs:annotation>
+													</xs:element>
+													<xs:element name="Recv" type="MailboxRecvInfoType">
+														<xs:annotation>
+															<xs:documentation>Input mailbox settings</xs:documentation>
+														</xs:annotation>
+													</xs:element>
+													<xs:element name="BootStrap" minOccurs="0">
+														<xs:complexType>
+															<xs:sequence>
+																<xs:element name="Send" type="MailboxSendInfoType">
+																	<xs:annotation>
+																		<xs:documentation>Output mailbox settings for bootstrap state</xs:documentation>
+																	</xs:annotation>
+																</xs:element>
+																<xs:element name="Recv" type="MailboxRecvInfoType">
+																	<xs:annotation>
+																		<xs:documentation>Input mailbox settings for bootstrap state</xs:documentation>
+																	</xs:annotation>
+																</xs:element>
+															</xs:sequence>
+														</xs:complexType>
+													</xs:element>
+													<xs:element name="Protocol" minOccurs="0" maxOccurs="unbounded">
+														<xs:annotation>
+															<xs:documentation>Supported protocols</xs:documentation>
+														</xs:annotation>
+														<xs:simpleType>
+															<xs:restriction base="xs:NMTOKEN">
+																<xs:enumeration value="AoE"/>
+																<xs:enumeration value="EoE"/>
+																<xs:enumeration value="CoE"/>
+																<xs:enumeration value="SoE"/>
+																<xs:enumeration value="FoE"/>
+																<xs:enumeration value="VoE"/>
+															</xs:restriction>
+														</xs:simpleType>
+													</xs:element>
+													<xs:element name="CoE" minOccurs="0">
+														<xs:complexType>
+															<xs:sequence>
+																<xs:element name="InitCmds" minOccurs="0">
+																	<xs:complexType>
+																		<xs:sequence>
+																			<xs:element name="InitCmd" minOccurs="0" maxOccurs="unbounded">
+																				<xs:annotation>
+																					<xs:documentation>SDO download cmds</xs:documentation>
+																				</xs:annotation>
+																				<xs:complexType>
+																					<xs:sequence>
+																						<xs:element name="Transition" type="TransitionType" maxOccurs="unbounded">
+																							<xs:annotation>
+																								<xs:documentation>init cmd will be send at the defined transitions</xs:documentation>
+																							</xs:annotation>
+																						</xs:element>
+																						<xs:element name="Comment" type="xs:string" minOccurs="0"/>
+																						<xs:element name="Timeout" type="xs:int">
+																							<xs:annotation>
+																								<xs:documentation>Timeout in ms</xs:documentation>
+																							</xs:annotation>
+																						</xs:element>
+																						<xs:element name="Ccs" type="xs:int"/>
+																						<xs:element name="Index" type="xs:int">
+																							<xs:annotation>
+																								<xs:documentation>SDO index</xs:documentation>
+																							</xs:annotation>
+																						</xs:element>
+																						<xs:element name="SubIndex" type="xs:int">
+																							<xs:annotation>
+																								<xs:documentation>SDO subindex</xs:documentation>
+																							</xs:annotation>
+																						</xs:element>
+																						<xs:element name="Data" type="xs:hexBinary" minOccurs="0">
+																							<xs:annotation>
+																								<xs:documentation>SDO data</xs:documentation>
+																							</xs:annotation>
+																						</xs:element>
+																						<xs:element name="Disabled" type="xs:boolean" minOccurs="0">
+																							<xs:annotation>
+																								<xs:documentation>If true the init command should not be sent</xs:documentation>
+																							</xs:annotation>
+																						</xs:element>
+																					</xs:sequence>
+																					<xs:attribute name="Fixed" type="xs:boolean" use="optional"/>
+																					<xs:attribute name="CompleteAccess" type="xs:boolean" use="optional"/>
+																				</xs:complexType>
+																			</xs:element>
+																		</xs:sequence>
+																	</xs:complexType>
+																</xs:element>
+																<xs:element name="Profile" type="ProfileType" minOccurs="0"/>
+															</xs:sequence>
+														</xs:complexType>
+													</xs:element>
+													<xs:element name="SoE" minOccurs="0">
+														<xs:complexType>
+															<xs:sequence>
+																<xs:element name="InitCmds" minOccurs="0">
+																	<xs:complexType>
+																		<xs:sequence>
+																			<xs:element name="InitCmd" minOccurs="0" maxOccurs="unbounded">
+																				<xs:annotation>
+																					<xs:documentation>service channel write req</xs:documentation>
+																				</xs:annotation>
+																				<xs:complexType>
+																					<xs:sequence>
+																						<xs:element name="Transition" maxOccurs="unbounded">
+																							<xs:annotation>
+																								<xs:documentation>init cmd will be send at the defined transitions</xs:documentation>
+																							</xs:annotation>
+																							<xs:simpleType>
+																								<xs:restriction base="xs:NMTOKEN">
+																									<xs:enumeration value="PS"/>
+																									<xs:enumeration value="SO"/>
+																									<xs:enumeration value="SP"/>
+																									<xs:enumeration value="OP"/>
+																									<xs:enumeration value="OS"/>
+																								</xs:restriction>
+																							</xs:simpleType>
+																						</xs:element>
+																						<xs:element name="Comment" type="xs:string" minOccurs="0"/>
+																						<xs:element name="Timeout" type="xs:int">
+																							<xs:annotation>
+																								<xs:documentation>Timeout in ms</xs:documentation>
+																							</xs:annotation>
+																						</xs:element>
+																						<xs:element name="OpCode" type="xs:int">
+																							<xs:annotation>
+																								<xs:documentation>Op Code</xs:documentation>
+																							</xs:annotation>
+																						</xs:element>
+																						<xs:element name="DriveNo" type="xs:int">
+																							<xs:annotation>
+																								<xs:documentation>Drive number</xs:documentation>
+																							</xs:annotation>
+																						</xs:element>
+																						<xs:element name="IDN" type="xs:int">
+																							<xs:annotation>
+																								<xs:documentation>IDN to write</xs:documentation>
+																							</xs:annotation>
+																						</xs:element>
+																						<xs:element name="Elements" type="xs:int"/>
+																						<xs:element name="Attribute" type="xs:int"/>
+																						<xs:element name="Data" type="xs:hexBinary" minOccurs="0">
+																							<xs:annotation>
+																								<xs:documentation>data to write</xs:documentation>
+																							</xs:annotation>
+																						</xs:element>
+																						<xs:element name="Disabled" type="xs:boolean" minOccurs="0">
+																							<xs:annotation>
+																								<xs:documentation>If true the init command should not be sent</xs:documentation>
+																							</xs:annotation>
+																						</xs:element>
+																					</xs:sequence>
+																					<xs:attribute name="Fixed" type="xs:boolean" use="optional" default="0"/>
+																				</xs:complexType>
+																			</xs:element>
+																		</xs:sequence>
+																	</xs:complexType>
+																</xs:element>
+															</xs:sequence>
+														</xs:complexType>
+													</xs:element>
+													<xs:element name="AoE" minOccurs="0">
+														<xs:complexType>
+															<xs:sequence>
+																<xs:element name="InitCmds" minOccurs="0">
+																	<xs:complexType>
+																		<xs:sequence>
+																			<xs:element name="InitCmd" type="MailboxCmdType" minOccurs="0" maxOccurs="unbounded"/>
+																		</xs:sequence>
+																	</xs:complexType>
+																</xs:element>
+																<xs:element name="NetId" type="xs:string" minOccurs="0"/>
+															</xs:sequence>
+														</xs:complexType>
+													</xs:element>
+													<xs:element name="EoE" minOccurs="0">
+														<xs:complexType>
+															<xs:sequence>
+																<xs:element name="InitCmds" minOccurs="0">
+																	<xs:complexType>
+																		<xs:sequence>
+																			<xs:element name="InitCmd" type="MailboxCmdType" minOccurs="0" maxOccurs="unbounded"/>
+																		</xs:sequence>
+																	</xs:complexType>
+																</xs:element>
+															</xs:sequence>
+														</xs:complexType>
+													</xs:element>
+													<xs:element name="FoE" minOccurs="0">
+														<xs:complexType>
+															<xs:sequence>
+																<xs:element name="InitCmds" minOccurs="0">
+																	<xs:complexType>
+																		<xs:sequence>
+																			<xs:element name="InitCmd" type="MailboxCmdType" minOccurs="0" maxOccurs="unbounded"/>
+																		</xs:sequence>
+																	</xs:complexType>
+																</xs:element>
+															</xs:sequence>
+														</xs:complexType>
+													</xs:element>
+													<xs:element name="VoE" minOccurs="0">
+														<xs:complexType>
+															<xs:sequence>
+																<xs:element name="InitCmds" minOccurs="0">
+																	<xs:complexType>
+																		<xs:sequence>
+																			<xs:element name="InitCmd" type="MailboxCmdType" minOccurs="0" maxOccurs="unbounded"/>
+																		</xs:sequence>
+																	</xs:complexType>
+																</xs:element>
+															</xs:sequence>
+														</xs:complexType>
+													</xs:element>
+												</xs:sequence>
+												<xs:attribute name="DataLinkLayer" type="xs:boolean"/>
+											</xs:complexType>
+										</xs:element>
+										<xs:element name="InitCmds" minOccurs="0">
+											<xs:annotation>
+												<xs:documentation>Initialization commands that are necessary for the slave device to run-up.</xs:documentation>
+											</xs:annotation>
+											<xs:complexType>
+												<xs:sequence>
+													<xs:element name="InitCmd" type="ECatCmdType" minOccurs="0" maxOccurs="unbounded"/>
+												</xs:sequence>
+											</xs:complexType>
+										</xs:element>
+										<xs:element name="PreviousPort" minOccurs="0" maxOccurs="unbounded">
+											<xs:annotation>
+												<xs:documentation>Possible previous port. The current previous port is set with the Selected attribute</xs:documentation>
+											</xs:annotation>
+											<xs:complexType>
+												<xs:sequence>
+													<xs:element name="DeviceId" type="xs:int" minOccurs="0">
+														<xs:annotation>
+															<xs:documentation>deprecated</xs:documentation>
+														</xs:annotation>
+													</xs:element>
+													<xs:element name="Port">
+														<xs:annotation>
+															<xs:documentation>Port of the previous slave device this device is connected to</xs:documentation>
+														</xs:annotation>
+														<xs:simpleType>
+															<xs:restriction base="xs:NMTOKEN">
+																<xs:enumeration value="B"/>
+																<xs:enumeration value="C"/>
+																<xs:enumeration value="D"/>
+															</xs:restriction>
+														</xs:simpleType>
+													</xs:element>
+													<xs:element name="PhysAddr" type="xs:int" minOccurs="0">
+														<xs:annotation>
+															<xs:documentation>Fixed EtherCAT Address of slave device</xs:documentation>
+														</xs:annotation>
+													</xs:element>
+												</xs:sequence>
+												<xs:attribute name="Selected" type="xs:int" use="optional" default="0"/>
+											</xs:complexType>
+										</xs:element>
+										<xs:element name="HotConnect" minOccurs="0">
+											<xs:complexType>
+												<xs:sequence>
+													<xs:element name="GroupMemberCnt" type="xs:int"/>
+													<xs:element name="IdentifyCmd" type="ECatCmdType" maxOccurs="unbounded"/>
+												</xs:sequence>
+											</xs:complexType>
+										</xs:element>
+										<xs:element name="DC" minOccurs="0">
+											<xs:annotation>
+												<xs:documentation>Distributed clock settings</xs:documentation>
+											</xs:annotation>
+											<xs:complexType>
+												<xs:sequence>
+													<xs:element name="ReferenceClock" type="xs:boolean">
+														<xs:annotation>
+															<xs:documentation>Determines if this device is the reference clock</xs:documentation>
+														</xs:annotation>
+													</xs:element>
+													<xs:element name="CycleTime0" type="xs:int"/>
+													<xs:element name="CycleTime1" type="xs:int"/>
+													<xs:element name="ShiftTime" type="xs:int"/>
+												</xs:sequence>
+											</xs:complexType>
+										</xs:element>
+									</xs:sequence>
+								</xs:complexType>
+							</xs:element>
+							<xs:element name="Cyclic" minOccurs="0" maxOccurs="unbounded">
+								<xs:annotation>
+									<xs:documentation>Cycles in which frames are sent</xs:documentation>
+								</xs:annotation>
+								<xs:complexType>
+									<xs:sequence>
+										<xs:element name="Comment" type="xs:string" minOccurs="0"/>
+										<xs:element name="CycleTime" type="xs:int" minOccurs="0">
+											<xs:annotation>
+												<xs:documentation>Cycle time of the task sending the frames</xs:documentation>
+											</xs:annotation>
+										</xs:element>
+										<xs:element name="Priority" type="xs:int" minOccurs="0">
+											<xs:annotation>
+												<xs:documentation>Priority of the task sending the frames</xs:documentation>
+											</xs:annotation>
+										</xs:element>
+										<xs:element name="TaskId" type="xs:string" minOccurs="0">
+											<xs:annotation>
+												<xs:documentation>Id of the task sending the frames</xs:documentation>
+											</xs:annotation>
+										</xs:element>
+										<xs:element name="Frame" maxOccurs="unbounded">
+											<xs:annotation>
+												<xs:documentation>Frames to be sent in this cycle</xs:documentation>
+											</xs:annotation>
+											<xs:complexType>
+												<xs:sequence>
+													<xs:element name="Comment" type="xs:string" minOccurs="0"/>
+													<xs:element name="Cmd" maxOccurs="unbounded">
+														<xs:annotation>
+															<xs:documentation>EtherCAT sub command</xs:documentation>
+														</xs:annotation>
+														<xs:complexType>
+															<xs:sequence>
+																<xs:element name="State" maxOccurs="4">
+																	<xs:annotation>
+																		<xs:documentation>Master state the command should be sent in. If the command should not be sent in the current master state one can either remove this command form the frame or set Cmd to Nop.</xs:documentation>
+																	</xs:annotation>
+																	<xs:simpleType>
+																		<xs:restriction base="xs:NMTOKEN">
+																			<xs:enumeration value="INIT"/>
+																			<xs:enumeration value="PREOP"/>
+																			<xs:enumeration value="SAFEOP"/>
+																			<xs:enumeration value="OP"/>
+																		</xs:restriction>
+																	</xs:simpleType>
+																</xs:element>
+																<xs:element name="Comment" type="xs:string" minOccurs="0"/>
+																<xs:element name="Cmd" type="xs:int"/>
+																<xs:choice>
+																	<xs:sequence>
+																		<xs:element name="Adp" type="xs:int" minOccurs="0">
+																			<xs:annotation>
+																				<xs:documentation>Adress position. Either Auto Increment Address or fixed EtherCAT Address</xs:documentation>
+																			</xs:annotation>
+																		</xs:element>
+																		<xs:element name="Ado" type="xs:int">
+																			<xs:annotation>
+																				<xs:documentation>Offset in DPRAM of the EtherCAT Slave Controller</xs:documentation>
+																			</xs:annotation>
+																		</xs:element>
+																	</xs:sequence>
+																	<xs:element name="Addr" type="xs:int">
+																		<xs:annotation>
+																			<xs:documentation>Logical Address</xs:documentation>
+																		</xs:annotation>
+																	</xs:element>
+																</xs:choice>
+																<xs:choice>
+																	<xs:element name="Data" type="xs:hexBinary">
+																		<xs:annotation>
+																			<xs:documentation>Data that should sent</xs:documentation>
+																		</xs:annotation>
+																	</xs:element>
+																	<xs:element name="DataLength" type="xs:int">
+																		<xs:annotation>
+																			<xs:documentation>Length of the data that should be sent. The data is then filled with 0.</xs:documentation>
+																		</xs:annotation>
+																	</xs:element>
+																</xs:choice>
+																<xs:element name="Cnt" type="xs:int" minOccurs="0">
+																	<xs:annotation>
+																		<xs:documentation>Expected working counter.</xs:documentation>
+																	</xs:annotation>
+																</xs:element>
+																<xs:element name="InputOffs" type="xs:int">
+																	<xs:annotation>
+																		<xs:documentation>Offset in the input image</xs:documentation>
+																	</xs:annotation>
+																</xs:element>
+																<xs:element name="OutputOffs" type="xs:int">
+																	<xs:annotation>
+																		<xs:documentation>Offset in the output image</xs:documentation>
+																	</xs:annotation>
+																</xs:element>
+																<xs:element name="CopyInfos" type="CopyInfosType" minOccurs="0">
+																	<xs:annotation>
+																		<xs:documentation>Copy information for slave to slave communication. The master has to copy valid input data of this command from the source offest (bit offs in the complete process image) to a destination offset.</xs:documentation>
+																	</xs:annotation>
+																</xs:element>
+															</xs:sequence>
+														</xs:complexType>
+													</xs:element>
+												</xs:sequence>
+											</xs:complexType>
+										</xs:element>
+									</xs:sequence>
+								</xs:complexType>
+							</xs:element>
+							<xs:element name="ProcessImage" minOccurs="0">
+								<xs:annotation>
+									<xs:documentation>Description of the process image of the master</xs:documentation>
+								</xs:annotation>
+								<xs:complexType>
+									<xs:sequence>
+										<xs:element name="Inputs" minOccurs="0">
+											<xs:annotation>
+												<xs:documentation>Input process image of the master</xs:documentation>
+											</xs:annotation>
+											<xs:complexType>
+												<xs:sequence>
+													<xs:element name="ByteSize" type="xs:int">
+														<xs:annotation>
+															<xs:documentation>Size of the input image</xs:documentation>
+														</xs:annotation>
+													</xs:element>
+													<xs:element name="Variable" type="VariableType" minOccurs="0" maxOccurs="unbounded">
+														<xs:annotation>
+															<xs:documentation>Input variables</xs:documentation>
+														</xs:annotation>
+													</xs:element>
+												</xs:sequence>
+											</xs:complexType>
+										</xs:element>
+										<xs:element name="Outputs" minOccurs="0">
+											<xs:annotation>
+												<xs:documentation>Output process image of the master</xs:documentation>
+											</xs:annotation>
+											<xs:complexType>
+												<xs:sequence>
+													<xs:element name="ByteSize" type="xs:int">
+														<xs:annotation>
+															<xs:documentation>Size of the output image</xs:documentation>
+														</xs:annotation>
+													</xs:element>
+													<xs:element name="Variable" type="VariableType" minOccurs="0" maxOccurs="unbounded">
+														<xs:annotation>
+															<xs:documentation>Output variables</xs:documentation>
+														</xs:annotation>
+													</xs:element>
+												</xs:sequence>
+											</xs:complexType>
+										</xs:element>
+									</xs:sequence>
+								</xs:complexType>
+							</xs:element>
+						</xs:sequence>
+					</xs:complexType>
+				</xs:element>
+			</xs:sequence>
+			<xs:attribute name="Version" type="xs:string" use="optional">
+				<xs:annotation>
+					<xs:documentation>Schema version (actual 1.3)</xs:documentation>
+				</xs:annotation>
+			</xs:attribute>
+		</xs:complexType>
+	</xs:element>
+	<xs:complexType name="ECatCmdType">
+		<xs:sequence>
+			<xs:element name="Transition" type="TransitionType" minOccurs="0" maxOccurs="unbounded">
+				<xs:annotation>
+					<xs:documentation>Transition this command should be sent in</xs:documentation>
+				</xs:annotation>
+			</xs:element>
+			<xs:element name="BeforeSlave" type="xs:boolean" minOccurs="0">
+				<xs:annotation>
+					<xs:documentation>If BeforeSlave is true this command will be sent before the slave init commands defined for this transition</xs:documentation>
+				</xs:annotation>
+			</xs:element>
+			<xs:element name="Comment" type="xs:string" minOccurs="0"/>
+			<xs:element name="Requires" minOccurs="0">
+				<xs:annotation>
+					<xs:documentation>If Requires is set to cycle, this command has to be sent in a seperate cycle. If Requires is set to cycle, this command has to be sent in a seperate frame. </xs:documentation>
+				</xs:annotation>
+				<xs:simpleType>
+					<xs:restriction base="xs:NMTOKEN">
+						<xs:enumeration value="frame"/>
+						<xs:enumeration value="cycle"/>
+					</xs:restriction>
+				</xs:simpleType>
+			</xs:element>
+			<xs:element name="Cmd" type="xs:int">
+				<xs:annotation>
+					<xs:documentation>EtherCAT Command Id</xs:documentation>
+				</xs:annotation>
+			</xs:element>
+			<xs:choice>
+				<xs:sequence>
+					<xs:element name="Adp" type="xs:int" minOccurs="0">
+						<xs:annotation>
+							<xs:documentation>Adress position. Either Auto Increment Address or fixed EtherCAT Address</xs:documentation>
+						</xs:annotation>
+					</xs:element>
+					<xs:element name="Ado" type="xs:int">
+						<xs:annotation>
+							<xs:documentation>Offset in DPRAM of the EtherCAT Slave Controller</xs:documentation>
+						</xs:annotation>
+					</xs:element>
+				</xs:sequence>
+				<xs:element name="Addr" type="xs:int">
+					<xs:annotation>
+						<xs:documentation>Logical Address</xs:documentation>
+					</xs:annotation>
+				</xs:element>
+			</xs:choice>
+			<xs:choice>
+				<xs:element name="Data" type="xs:hexBinary">
+					<xs:annotation>
+						<xs:documentation>Data that should sent</xs:documentation>
+					</xs:annotation>
+				</xs:element>
+				<xs:element name="DataLength" type="xs:int">
+					<xs:annotation>
+						<xs:documentation>Length of the data that should be sent. The data is then filled with 0.</xs:documentation>
+					</xs:annotation>
+				</xs:element>
+			</xs:choice>
+			<xs:element name="Cnt" type="xs:int" minOccurs="0">
+				<xs:annotation>
+					<xs:documentation>Expected working counter. If the returned working counter is not equal to this value the init command fails.</xs:documentation>
+				</xs:annotation>
+			</xs:element>
+			<xs:element name="Retries" type="xs:int" minOccurs="0">
+				<xs:annotation>
+					<xs:documentation>Defines how many times the master should retry sending the command before the init command fails.</xs:documentation>
+				</xs:annotation>
+			</xs:element>
+			<xs:element name="Validate" minOccurs="0">
+				<xs:annotation>
+					<xs:documentation>If validate is set the returned data has to be validated by the master.</xs:documentation>
+				</xs:annotation>
+				<xs:complexType>
+					<xs:sequence>
+						<xs:element name="Data" type="xs:hexBinary">
+							<xs:annotation>
+								<xs:documentation>Binary data with which the returned data has to be compared with.</xs:documentation>
+							</xs:annotation>
+						</xs:element>
+						<xs:element name="DataMask" type="xs:hexBinary" minOccurs="0">
+							<xs:annotation>
+								<xs:documentation>If a data mask is set, the returned data and the data mask is combined with an AND operatore, before comparing the data.</xs:documentation>
+							</xs:annotation>
+						</xs:element>
+						<xs:element name="Timeout" type="xs:int">
+							<xs:annotation>
+								<xs:documentation>Timeout in ms. Determis how long the master retries to read out the date, if the validation has failed.</xs:documentation>
+							</xs:annotation>
+						</xs:element>
+					</xs:sequence>
+				</xs:complexType>
+			</xs:element>
+		</xs:sequence>
+	</xs:complexType>
+	<xs:complexType name="SyncManagerSettings">
+		<xs:sequence>
+			<xs:element name="Type">
+				<xs:annotation>
+					<xs:documentation>Type of Sync Manager (e.g. Outputs)</xs:documentation>
+				</xs:annotation>
+				<xs:simpleType>
+					<xs:restriction base="xs:NMTOKEN">
+						<xs:enumeration value="MBoxOut"/>
+						<xs:enumeration value="MBoxIn"/>
+						<xs:enumeration value="Outputs"/>
+						<xs:enumeration value="Inputs"/>
+					</xs:restriction>
+				</xs:simpleType>
+			</xs:element>
+			<xs:element name="MinSize" type="xs:int" minOccurs="0"/>
+			<xs:element name="MaxSize" type="xs:int" minOccurs="0"/>
+			<xs:element name="DefaultSize" type="xs:int" minOccurs="0"/>
+			<xs:element name="StartAddress" type="xs:int"/>
+			<xs:element name="ControlByte" type="xs:int"/>
+			<xs:element name="Enable" type="xs:boolean"/>
+			<xs:element name="Virtual" type="xs:boolean" minOccurs="0"/>
+			<xs:element name="Watchdog" type="xs:int" minOccurs="0">
+				<xs:annotation>
+					<xs:documentation>Watchdog setting of the sync manager</xs:documentation>
+				</xs:annotation>
+			</xs:element>
+			<xs:element name="Pdo" type="xs:int" minOccurs="0" maxOccurs="unbounded">
+				<xs:annotation>
+					<xs:documentation>Pdo indices</xs:documentation>
+				</xs:annotation>
+			</xs:element>
+		</xs:sequence>
+	</xs:complexType>
+	<xs:simpleType name="HexDecValue">
+		<xs:restriction base="xs:string">
+			<xs:pattern value="[+-]?[0-9]{1,}"/>
+			<xs:pattern value="#x[0-9|a-f|A-F]{1,}"/>
+		</xs:restriction>
+	</xs:simpleType>
+	<xs:complexType name="NameType">
+		<xs:simpleContent>
+			<xs:extension base="xs:string">
+				<xs:attribute name="LcId" type="xs:integer" default="1033"/>
+			</xs:extension>
+		</xs:simpleContent>
+	</xs:complexType>
+	<xs:complexType name="PdoType">
+		<xs:sequence>
+			<xs:element name="Index">
+				<xs:complexType>
+					<xs:simpleContent>
+						<xs:extension base="HexDecValue">
+							<xs:attribute name="DependOnSlot" type="xs:boolean">
+								<xs:annotation>
+									<xs:documentation>The index of the PDO will be adapted depend on the slot number and the SlotPdoIncrement value in the Slots-part of the device description</xs:documentation>
+								</xs:annotation>
+							</xs:attribute>
+							<xs:attribute name="DependOnSlotGroup" type="xs:boolean">
+								<xs:annotation>
+									<xs:documentation>The index of the PDO will be adapted depend on the slot group number and the SlotGroupPdoIncrement value in the Slots-part of the device description</xs:documentation>
+								</xs:annotation>
+							</xs:attribute>
+						</xs:extension>
+					</xs:simpleContent>
+				</xs:complexType>
+			</xs:element>
+			<xs:element name="Name" type="NameType" maxOccurs="unbounded"/>
+			<xs:element name="Exclude" minOccurs="0" maxOccurs="unbounded">
+				<xs:annotation>
+					<xs:documentation>List of pdo indicies that are excluded if this pdo is in sync manager</xs:documentation>
+				</xs:annotation>
+				<xs:complexType>
+					<xs:simpleContent>
+						<xs:extension base="HexDecValue">
+							<xs:attribute name="DependOnSlot" type="xs:boolean">
+								<xs:annotation>
+									<xs:documentation>The index of the Exclude PDO will be adapted depend on the slot number and the SlotPdoIncrement value in the Slots-part of the device description</xs:documentation>
+								</xs:annotation>
+							</xs:attribute>
+							<xs:attribute name="DependOnSlotGroup" type="xs:boolean">
+								<xs:annotation>
+									<xs:documentation>The index of the Exclude-PDO will be adapted depend on the slot group number and the SlotPdoIncrement value in the Slots-part of the device description</xs:documentation>
+								</xs:annotation>
+							</xs:attribute>
+						</xs:extension>
+					</xs:simpleContent>
+				</xs:complexType>
+			</xs:element>
+			<xs:element name="Entry" minOccurs="0" maxOccurs="unbounded">
+				<xs:complexType>
+					<xs:complexContent>
+						<xs:extension base="EntryType">
+							<xs:attribute name="Fixed" type="xs:boolean"/>
+						</xs:extension>
+					</xs:complexContent>
+				</xs:complexType>
+			</xs:element>
+		</xs:sequence>
+		<xs:attribute name="Fixed" type="xs:boolean" use="optional">
+			<xs:annotation>
+				<xs:documentation>pdo is not configurable</xs:documentation>
+			</xs:annotation>
+		</xs:attribute>
+		<xs:attribute name="Mandatory" type="xs:boolean" use="optional">
+			<xs:annotation>
+				<xs:documentation>pdo must be configured in a sync manager</xs:documentation>
+			</xs:annotation>
+		</xs:attribute>
+		<xs:attribute name="Virtual" type="xs:boolean" use="optional">
+			<xs:annotation>
+				<xs:documentation>pdo will be configured internally (based on the configured variables)</xs:documentation>
+			</xs:annotation>
+		</xs:attribute>
+		<xs:attribute name="Sm" type="xs:int" use="optional">
+			<xs:annotation>
+				<xs:documentation>default sync manager for this pdo (if set, this PDO will be include in the process image)</xs:documentation>
+			</xs:annotation>
+		</xs:attribute>
+		<xs:attribute name="Su" type="xs:int" use="optional">
+			<xs:annotation>
+				<xs:documentation>default sync unit for this pdo</xs:documentation>
+			</xs:annotation>
+		</xs:attribute>
+		<xs:attribute name="PdoOrder" type="xs:int" use="optional"/>
+		<xs:attribute name="OSFac" type="xs:int" use="optional">
+			<xs:annotation>
+				<xs:documentation>default oversampling factor</xs:documentation>
+			</xs:annotation>
+		</xs:attribute>
+		<xs:attribute name="OSMin" type="xs:int" use="optional">
+			<xs:annotation>
+				<xs:documentation>min. oversampling factor</xs:documentation>
+			</xs:annotation>
+		</xs:attribute>
+		<xs:attribute name="OSMax" type="xs:int" use="optional">
+			<xs:annotation>
+				<xs:documentation>max. oversampling factor</xs:documentation>
+			</xs:annotation>
+		</xs:attribute>
+		<xs:attribute name="OSIndexInc" type="xs:int" use="optional">
+			<xs:annotation>
+				<xs:documentation>oversampling increment for entry indicies</xs:documentation>
+			</xs:annotation>
+		</xs:attribute>
+		<xs:attribute name="OverwrittenByModule" type="xs:boolean">
+			<xs:annotation>
+				<xs:documentation>If this attribute is True, the PDO shall not be considered if the configurator supports the modular device description because this PDO will be defined via the module definition (only for configurators supporting V1.3). </xs:documentation>
+			</xs:annotation>
+		</xs:attribute>
+	</xs:complexType>
+	<xs:complexType name="EntryType">
+		<xs:sequence>
+			<xs:element name="Index">
+				<xs:complexType>
+					<xs:simpleContent>
+						<xs:extension base="HexDecValue">
+							<xs:attribute name="DependOnSlot" type="xs:boolean">
+								<xs:annotation>
+									<xs:documentation>The index will be adapted depend on the slot number and the SlotIndexIncrement value in the Slots-part of the device description</xs:documentation>
+								</xs:annotation>
+							</xs:attribute>
+							<xs:attribute name="DependOnSlotGroup" type="xs:boolean">
+								<xs:annotation>
+									<xs:documentation>The index will be adapted depend on the slot group number and the SlotGroupIndexIncrement value in the Slots-part of the device description</xs:documentation>
+								</xs:annotation>
+							</xs:attribute>
+						</xs:extension>
+					</xs:simpleContent>
+				</xs:complexType>
+			</xs:element>
+			<xs:element name="SubIndex" type="HexDecValue" minOccurs="0">
+				<xs:annotation>
+					<xs:documentation>Default value = 0</xs:documentation>
+				</xs:annotation>
+			</xs:element>
+			<xs:element name="BitLen" type="xs:int"/>
+			<xs:element name="Name" type="NameType" minOccurs="0" maxOccurs="unbounded">
+				<xs:annotation>
+					<xs:documentation>Name is mandatory if Index != 0</xs:documentation>
+				</xs:annotation>
+			</xs:element>
+			<xs:element name="Comment" type="xs:string" minOccurs="0"/>
+			<xs:element name="DataType" minOccurs="0">
+				<xs:annotation>
+					<xs:documentation>DataType is mandatory if Index != 0</xs:documentation>
+				</xs:annotation>
+				<xs:complexType>
+					<xs:simpleContent>
+						<xs:extension base="xs:string">
+							<xs:attribute name="DScale" use="optional">
+								<xs:simpleType>
+									<xs:restriction base="xs:string">
+										<xs:enumeration value="+/-10"/>
+										<xs:enumeration value="0-10"/>
+										<xs:enumeration value="0-20"/>
+										<xs:enumeration value="4-20"/>
+										<xs:enumeration value="0.1°"/>
+									</xs:restriction>
+								</xs:simpleType>
+							</xs:attribute>
+							<xs:attribute name="SwapData" type="xs:boolean" use="optional">
+								<xs:annotation>
+									<xs:documentation>1 = swap hi and lo bytes; 2 = swap hi and lo words; 3 =  swap both</xs:documentation>
+								</xs:annotation>
+							</xs:attribute>
+						</xs:extension>
+					</xs:simpleContent>
+				</xs:complexType>
+			</xs:element>
+		</xs:sequence>
+	</xs:complexType>
+	<xs:simpleType name="TransitionType">
+		<xs:restriction base="xs:NMTOKEN">
+			<xs:enumeration value="II"/>
+			<xs:enumeration value="IP"/>
+			<xs:enumeration value="PP"/>
+			<xs:enumeration value="PO"/>
+			<xs:enumeration value="PS"/>
+			<xs:enumeration value="PI"/>
+			<xs:enumeration value="SS"/>
+			<xs:enumeration value="SP"/>
+			<xs:enumeration value="SO"/>
+			<xs:enumeration value="SI"/>
+			<xs:enumeration value="OS"/>
+			<xs:enumeration value="OP"/>
+			<xs:enumeration value="OI"/>
+			<xs:enumeration value="IB"/>
+			<xs:enumeration value="BI"/>
+		</xs:restriction>
+	</xs:simpleType>
+	<xs:complexType name="VariableType">
+		<xs:sequence>
+			<xs:element name="Name" type="xs:string">
+				<xs:annotation>
+					<xs:documentation>Name of the variable</xs:documentation>
+				</xs:annotation>
+			</xs:element>
+			<xs:element name="Comment" type="xs:string" minOccurs="0"/>
+			<xs:element name="DataType" type="xs:string" minOccurs="0">
+				<xs:annotation>
+					<xs:documentation>Datatype of the variable</xs:documentation>
+				</xs:annotation>
+			</xs:element>
+			<xs:element name="BitSize" type="xs:int">
+				<xs:annotation>
+					<xs:documentation>Size of the variable in bits</xs:documentation>
+				</xs:annotation>
+			</xs:element>
+			<xs:element name="BitOffs" type="xs:int">
+				<xs:annotation>
+					<xs:documentation>Bit offset of the variable in the image</xs:documentation>
+				</xs:annotation>
+			</xs:element>
+		</xs:sequence>
+	</xs:complexType>
+	<xs:complexType name="VendorSpecificType">
+		<xs:sequence>
+			<xs:any namespace="##any" processContents="skip" maxOccurs="unbounded"/>
+		</xs:sequence>
+	</xs:complexType>
+	<xs:complexType name="ProfileType">
+		<xs:sequence>
+			<xs:element name="ChannelInfo" maxOccurs="unbounded">
+				<xs:complexType>
+					<xs:sequence>
+						<xs:element name="ProfileNo" type="xs:int"/>
+						<xs:element name="AddInfo" type="xs:string" minOccurs="0"/>
+						<xs:element name="DisplayName" type="NameType" minOccurs="0" maxOccurs="unbounded"/>
+					</xs:sequence>
+					<xs:attribute name="OverwrittenByModule" type="xs:boolean">
+						<xs:annotation>
+							<xs:documentation>If this attribute is True, the object shall not be considered if the configurator supports the modular device description because this object will be defined via the module definition (only for configurators supporting V1.3). </xs:documentation>
+						</xs:annotation>
+					</xs:attribute>
+				</xs:complexType>
+			</xs:element>
+			<xs:element name="VendorSpecific" type="VendorSpecificType" minOccurs="0"/>
+		</xs:sequence>
+	</xs:complexType>
+	<xs:simpleType name="PhysicsType">
+		<xs:restriction base="xs:string">
+			<xs:pattern value="[Y,K, ,B]{0,4}"/>
+		</xs:restriction>
+	</xs:simpleType>
+	<xs:complexType name="MailboxCmdType">
+		<xs:sequence>
+			<xs:element name="Transition" type="TransitionType" maxOccurs="unbounded">
+				<xs:annotation>
+					<xs:documentation>init cmd will be send at the defined transitions</xs:documentation>
+				</xs:annotation>
+			</xs:element>
+			<xs:element name="Comment" type="xs:string" minOccurs="0"/>
+			<xs:element name="Timeout" type="xs:int">
+				<xs:annotation>
+					<xs:documentation>Timeout in ms</xs:documentation>
+				</xs:annotation>
+			</xs:element>
+			<xs:element name="Data" type="xs:hexBinary">
+				<xs:annotation>
+					<xs:documentation>data of the mailbox cmd (excl. the mailbox)</xs:documentation>
+				</xs:annotation>
+			</xs:element>
+			<xs:element name="Disabled" type="xs:boolean" minOccurs="0">
+				<xs:annotation>
+					<xs:documentation>If true the init command should not be sent</xs:documentation>
+				</xs:annotation>
+			</xs:element>
+		</xs:sequence>
+		<xs:attribute name="Fixed" type="xs:boolean" use="optional" default="0"/>
+	</xs:complexType>
+	<xs:complexType name="MailboxSendInfoType">
+		<xs:sequence>
+			<xs:element name="Start" type="xs:int"/>
+			<xs:element name="Length" type="xs:int"/>
+			<xs:element name="ShortSend" type="xs:boolean" minOccurs="0"/>
+		</xs:sequence>
+	</xs:complexType>
+	<xs:complexType name="MailboxRecvInfoType">
+		<xs:sequence>
+			<xs:element name="Start" type="xs:int"/>
+			<xs:element name="Length" type="xs:int"/>
+			<xs:element name="PollTime" type="xs:int" minOccurs="0"/>
+			<xs:element name="StatusBitAddr" type="xs:int" minOccurs="0"/>
+		</xs:sequence>
+	</xs:complexType>
+	<xs:complexType name="CopyInfosType">
+		<xs:sequence>
+			<xs:element name="CopyInfo" minOccurs="0" maxOccurs="unbounded">
+				<xs:complexType>
+					<xs:sequence>
+						<xs:element name="SrcBitOffs" type="HexDecValue"/>
+						<xs:element name="DstBitOffs" type="HexDecValue"/>
+						<xs:element name="BitSize" type="HexDecValue"/>
+					</xs:sequence>
+				</xs:complexType>
+			</xs:element>
+		</xs:sequence>
+	</xs:complexType>
+</xs:schema>
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/etherlab/EtherCATInfo.xsd	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,955 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<xs:schema xmlns:xs="http://www.w3.org/2001/XMLSchema" elementFormDefault="qualified" attributeFormDefault="unqualified">
+	<xs:include schemaLocation="EtherCATBase.xsd"/>
+	<xs:element name="EtherCATInfo">
+		<xs:complexType>
+			<xs:sequence>
+				<xs:element name="InfoReference" type="xs:string" minOccurs="0" maxOccurs="unbounded"/>
+				<xs:element name="Vendor">
+					<xs:complexType>
+						<xs:complexContent>
+							<xs:extension base="VendorType">
+								<xs:attribute name="FileVersion" type="xs:int"/>
+							</xs:extension>
+						</xs:complexContent>
+					</xs:complexType>
+				</xs:element>
+				<xs:element name="Descriptions">
+					<xs:complexType>
+						<xs:sequence>
+							<xs:element name="Groups">
+								<xs:complexType>
+									<xs:sequence>
+										<xs:element name="Group" minOccurs="0" maxOccurs="unbounded">
+											<xs:complexType>
+												<xs:complexContent>
+													<xs:extension base="GroupType">
+														<xs:attribute name="SortOrder" type="xs:int">
+															<xs:annotation>
+																<xs:documentation>Helps to display multiple groups in the order intended by the vendor</xs:documentation>
+															</xs:annotation>
+														</xs:attribute>
+														<xs:attribute name="ParentGroup" type="xs:string">
+															<xs:annotation>
+																<xs:documentation>Type of an optional parent group - only for additional display order possibilities</xs:documentation>
+															</xs:annotation>
+														</xs:attribute>
+													</xs:extension>
+												</xs:complexContent>
+											</xs:complexType>
+										</xs:element>
+									</xs:sequence>
+								</xs:complexType>
+							</xs:element>
+							<xs:element name="Devices">
+								<xs:complexType>
+									<xs:sequence>
+										<xs:element name="Device" minOccurs="0" maxOccurs="unbounded">
+											<xs:complexType>
+												<xs:complexContent>
+													<xs:extension base="DeviceType">
+														<xs:attribute name="Invisible" type="xs:boolean" use="optional"/>
+														<xs:attribute name="Physics" type="PhysicsType" use="required"/>
+														<xs:attribute name="Crc32" type="HexDecValue" use="optional"/>
+													</xs:extension>
+												</xs:complexContent>
+											</xs:complexType>
+										</xs:element>
+									</xs:sequence>
+								</xs:complexType>
+							</xs:element>
+							<xs:element name="Modules" minOccurs="0">
+								<xs:complexType>
+									<xs:sequence>
+										<xs:element name="Module" minOccurs="0" maxOccurs="unbounded">
+											<xs:complexType>
+												<xs:complexContent>
+													<xs:extension base="ModuleType">
+														<xs:attribute name="Crc32" type="HexDecValue" use="optional"/>
+													</xs:extension>
+												</xs:complexContent>
+											</xs:complexType>
+										</xs:element>
+									</xs:sequence>
+								</xs:complexType>
+							</xs:element>
+						</xs:sequence>
+					</xs:complexType>
+				</xs:element>
+			</xs:sequence>
+			<xs:attribute name="Version" type="xs:string" use="optional">
+				<xs:annotation>
+					<xs:documentation>Schema version (1.4)</xs:documentation>
+				</xs:annotation>
+			</xs:attribute>
+		</xs:complexType>
+	</xs:element>
+	<xs:complexType name="DeviceType">
+		<xs:sequence>
+			<xs:element name="Type">
+				<xs:complexType>
+					<xs:simpleContent>
+						<xs:extension base="xs:string">
+							<xs:attribute name="ProductCode" type="HexDecValue" use="optional"/>
+							<xs:attribute name="RevisionNo" type="HexDecValue" use="optional"/>
+							<xs:attribute name="SerialNo" type="HexDecValue" use="optional"/>
+							<xs:attribute name="CheckProductCode" use="optional">
+								<xs:simpleType>
+									<xs:restriction base="xs:NMTOKEN">
+										<xs:enumeration value="NONE"/>
+										<xs:enumeration value="EQ"/>
+									</xs:restriction>
+								</xs:simpleType>
+							</xs:attribute>
+							<xs:attribute name="CheckRevisionNo" use="optional">
+								<xs:simpleType>
+									<xs:restriction base="xs:NMTOKEN">
+										<xs:enumeration value="NONE"/>
+										<xs:enumeration value="EQ"/>
+										<xs:enumeration value="EQ_OR_G"/>
+										<xs:enumeration value="LW_EQ"/>
+										<xs:enumeration value="LW_EQ_HW_EQ_OR_G"/>
+										<xs:enumeration value="HW_EQ"/>
+										<xs:enumeration value="HW_EQ_LW_EQ_OR_G"/>
+									</xs:restriction>
+								</xs:simpleType>
+							</xs:attribute>
+							<xs:attribute name="CheckSerialNo" use="optional">
+								<xs:simpleType>
+									<xs:restriction base="xs:NMTOKEN">
+										<xs:enumeration value="NONE"/>
+										<xs:enumeration value="EQ"/>
+									</xs:restriction>
+								</xs:simpleType>
+							</xs:attribute>
+							<xs:attribute name="TcSmClass" type="xs:string" use="optional">
+								<xs:annotation>
+									<xs:documentation>obsolete</xs:documentation>
+								</xs:annotation>
+							</xs:attribute>
+							<xs:attribute name="TcCfgModeSafeOp" type="xs:boolean" use="optional">
+								<xs:annotation>
+									<xs:documentation>obsolete</xs:documentation>
+								</xs:annotation>
+							</xs:attribute>
+							<xs:attribute name="UseLrdLwr" type="xs:boolean" use="optional"/>
+							<xs:attribute name="ModulePdoGroup" type="xs:int" use="optional"/>
+							<xs:attribute name="DownloadModuleList" type="xs:boolean" use="optional">
+								<xs:annotation>
+									<xs:documentation>for future use</xs:documentation>
+								</xs:annotation>
+							</xs:attribute>
+						</xs:extension>
+					</xs:simpleContent>
+				</xs:complexType>
+			</xs:element>
+			<xs:element name="HideType" minOccurs="0" maxOccurs="unbounded">
+				<xs:complexType>
+					<xs:simpleContent>
+						<xs:extension base="xs:string">
+							<xs:attribute name="ProductCode" type="HexDecValue" use="optional"/>
+							<xs:attribute name="RevisionNo" type="HexDecValue" use="optional"/>
+							<xs:attribute name="ProductRevision" type="xs:string" use="optional">
+								<xs:annotation>
+									<xs:documentation>obsolete</xs:documentation>
+								</xs:annotation>
+							</xs:attribute>
+						</xs:extension>
+					</xs:simpleContent>
+				</xs:complexType>
+			</xs:element>
+			<xs:element name="AlternativeType" minOccurs="0" maxOccurs="unbounded">
+				<xs:complexType>
+					<xs:simpleContent>
+						<xs:extension base="xs:string">
+							<xs:attribute name="ProductCode" type="HexDecValue" use="optional">
+								<xs:annotation>
+									<xs:documentation>for future use</xs:documentation>
+								</xs:annotation>
+							</xs:attribute>
+							<xs:attribute name="RevisionNo" type="HexDecValue" use="optional">
+								<xs:annotation>
+									<xs:documentation>for future use</xs:documentation>
+								</xs:annotation>
+							</xs:attribute>
+						</xs:extension>
+					</xs:simpleContent>
+				</xs:complexType>
+			</xs:element>
+			<xs:element name="SubDevice" minOccurs="0" maxOccurs="unbounded">
+				<xs:annotation>
+					<xs:documentation> </xs:documentation>
+				</xs:annotation>
+				<xs:complexType>
+					<xs:simpleContent>
+						<xs:extension base="xs:string">
+							<xs:attribute name="ProductCode" type="HexDecValue" use="optional">
+								<xs:annotation>
+									<xs:documentation>for future use</xs:documentation>
+								</xs:annotation>
+							</xs:attribute>
+							<xs:attribute name="RevisionNo" type="HexDecValue" use="optional">
+								<xs:annotation>
+									<xs:documentation>for future use</xs:documentation>
+								</xs:annotation>
+							</xs:attribute>
+							<xs:attribute name="PreviousDevice" type="xs:int" use="optional"/>
+							<xs:attribute name="PreviousPortNo" type="xs:int" use="optional"/>
+						</xs:extension>
+					</xs:simpleContent>
+				</xs:complexType>
+			</xs:element>
+			<xs:element name="Name" type="NameType" maxOccurs="unbounded"/>
+			<xs:element name="Comment" type="NameType" minOccurs="0" maxOccurs="unbounded"/>
+			<xs:element name="URL" type="NameType" minOccurs="0" maxOccurs="unbounded"/>
+			<xs:element name="Info" type="InfoType" minOccurs="0"/>
+			<xs:element name="GroupType" type="xs:string"/>
+			<xs:element name="Profile" minOccurs="0" maxOccurs="unbounded">
+				<xs:complexType>
+					<xs:complexContent>
+						<xs:extension base="ProfileType">
+							<xs:attribute name="Channel" type="xs:int" use="optional">
+								<xs:annotation>
+									<xs:documentation>obsolete</xs:documentation>
+								</xs:annotation>
+							</xs:attribute>
+						</xs:extension>
+					</xs:complexContent>
+				</xs:complexType>
+			</xs:element>
+			<xs:element name="Fmmu" minOccurs="0" maxOccurs="unbounded">
+				<xs:complexType>
+					<xs:simpleContent>
+						<xs:extension base="xs:string">
+							<xs:attribute name="OpOnly" type="xs:boolean" use="optional">
+								<xs:annotation>
+									<xs:documentation>obsolete</xs:documentation>
+								</xs:annotation>
+							</xs:attribute>
+							<xs:attribute name="Sm" type="xs:int" use="optional"/>
+							<xs:attribute name="Su" type="xs:int" use="optional"/>
+						</xs:extension>
+					</xs:simpleContent>
+				</xs:complexType>
+			</xs:element>
+			<xs:element name="Sm" minOccurs="0" maxOccurs="unbounded">
+				<xs:complexType>
+					<xs:simpleContent>
+						<xs:extension base="xs:string">
+							<xs:attribute name="MinSize" type="HexDecValue" use="optional"/>
+							<xs:attribute name="MaxSize" type="HexDecValue" use="optional"/>
+							<xs:attribute name="DefaultSize" type="HexDecValue" use="optional"/>
+							<xs:attribute name="StartAddress" type="HexDecValue" use="optional"/>
+							<xs:attribute name="ControlByte" type="HexDecValue" use="optional"/>
+							<xs:attribute name="Enable" type="HexDecValue" use="optional"/>
+							<xs:attribute name="OneByteMode" type="xs:boolean" use="optional">
+								<xs:annotation>
+									<xs:documentation>obsolete</xs:documentation>
+								</xs:annotation>
+							</xs:attribute>
+							<xs:attribute name="Virtual" type="xs:boolean" use="optional"/>
+							<xs:attribute name="Watchdog" type="xs:boolean" use="optional">
+								<xs:annotation>
+									<xs:documentation>obsolete</xs:documentation>
+								</xs:annotation>
+							</xs:attribute>
+							<xs:attribute name="OpOnly" type="xs:boolean" use="optional"/>
+							<xs:attribute name="FixedAssignment" type="xs:boolean" use="optional">
+								<xs:annotation>
+									<xs:documentation>obsolete</xs:documentation>
+								</xs:annotation>
+							</xs:attribute>
+						</xs:extension>
+					</xs:simpleContent>
+				</xs:complexType>
+			</xs:element>
+			<xs:element name="Su" minOccurs="0" maxOccurs="unbounded">
+				<xs:complexType>
+					<xs:simpleContent>
+						<xs:extension base="xs:string">
+							<xs:attribute name="SeparateSu" type="xs:boolean" use="optional"/>
+							<xs:attribute name="SeparateFrame" type="xs:boolean" use="optional"/>
+							<xs:attribute name="DependOnInputState" type="xs:boolean" use="optional">
+								<xs:annotation>
+									<xs:documentation>for future use</xs:documentation>
+								</xs:annotation>
+							</xs:attribute>
+							<xs:attribute name="FrameRepeatSupport" type="xs:boolean" use="optional"/>
+						</xs:extension>
+					</xs:simpleContent>
+				</xs:complexType>
+			</xs:element>
+			<xs:element name="RxPdo" type="PdoType" minOccurs="0" maxOccurs="unbounded"/>
+			<xs:element name="TxPdo" type="PdoType" minOccurs="0" maxOccurs="unbounded"/>
+			<xs:element name="Mailbox" minOccurs="0">
+				<xs:complexType>
+					<xs:sequence>
+						<xs:element name="AoE" minOccurs="0">
+							<xs:complexType>
+								<xs:sequence>
+									<xs:element name="InitCmd" minOccurs="0" maxOccurs="unbounded">
+										<xs:complexType>
+											<xs:sequence>
+												<xs:element name="Transition" maxOccurs="unbounded">
+													<xs:simpleType>
+														<xs:restriction base="xs:NMTOKEN">
+															<xs:enumeration value="PS"/>
+															<xs:enumeration value="SO"/>
+															<xs:enumeration value="SP"/>
+															<xs:enumeration value="OP"/>
+															<xs:enumeration value="OS"/>
+														</xs:restriction>
+													</xs:simpleType>
+												</xs:element>
+												<xs:element name="Data" type="xs:hexBinary"/>
+												<xs:element name="Comment" type="xs:string" minOccurs="0"/>
+											</xs:sequence>
+										</xs:complexType>
+									</xs:element>
+								</xs:sequence>
+								<xs:attribute name="AdsRouter" type="xs:boolean" use="optional"/>
+								<xs:attribute name="GenerateOwnNetId" type="xs:boolean" use="optional"/>
+								<xs:attribute name="InitializeOwnNetId" type="xs:boolean" use="optional"/>
+							</xs:complexType>
+						</xs:element>
+						<xs:element name="EoE" minOccurs="0">
+							<xs:complexType>
+								<xs:sequence>
+									<xs:element name="InitCmd" minOccurs="0" maxOccurs="unbounded">
+										<xs:complexType>
+											<xs:sequence>
+												<xs:element name="Transition" maxOccurs="unbounded">
+													<xs:simpleType>
+														<xs:restriction base="xs:NMTOKEN">
+															<xs:enumeration value="PS"/>
+															<xs:enumeration value="SO"/>
+															<xs:enumeration value="SP"/>
+															<xs:enumeration value="OP"/>
+															<xs:enumeration value="OS"/>
+														</xs:restriction>
+													</xs:simpleType>
+												</xs:element>
+												<xs:element name="Type" type="xs:int"/>
+												<xs:element name="Data" type="xs:hexBinary"/>
+												<xs:element name="Comment" type="xs:string" minOccurs="0"/>
+											</xs:sequence>
+										</xs:complexType>
+									</xs:element>
+								</xs:sequence>
+								<xs:attribute name="IP" type="xs:boolean" use="optional" default="0"/>
+								<xs:attribute name="MAC" type="xs:boolean" use="optional" default="0"/>
+								<xs:attribute name="TimeStamp" type="xs:boolean" use="optional" default="0"/>
+							</xs:complexType>
+						</xs:element>
+						<xs:element name="CoE" minOccurs="0">
+							<xs:complexType>
+								<xs:sequence>
+									<xs:element name="Object" minOccurs="0" maxOccurs="unbounded">
+										<xs:annotation>
+											<xs:documentation>obsolete</xs:documentation>
+										</xs:annotation>
+										<xs:complexType>
+											<xs:sequence>
+												<xs:element name="Index" type="xs:int">
+													<xs:annotation>
+														<xs:documentation>obsolete</xs:documentation>
+													</xs:annotation>
+												</xs:element>
+												<xs:element name="SubIndex" type="xs:int">
+													<xs:annotation>
+														<xs:documentation>obsolete</xs:documentation>
+													</xs:annotation>
+												</xs:element>
+												<xs:element name="Data" type="xs:hexBinary">
+													<xs:annotation>
+														<xs:documentation>obsolete</xs:documentation>
+													</xs:annotation>
+												</xs:element>
+												<xs:element name="Comment" type="xs:string" minOccurs="0">
+													<xs:annotation>
+														<xs:documentation>obsolete</xs:documentation>
+													</xs:annotation>
+												</xs:element>
+											</xs:sequence>
+										</xs:complexType>
+									</xs:element>
+									<xs:element name="InitCmd" minOccurs="0" maxOccurs="unbounded">
+										<xs:complexType>
+											<xs:sequence>
+												<xs:element name="Transition" maxOccurs="unbounded">
+													<xs:simpleType>
+														<xs:restriction base="xs:NMTOKEN">
+															<xs:enumeration value="PS"/>
+															<xs:enumeration value="SO"/>
+															<xs:enumeration value="SP"/>
+															<xs:enumeration value="OP"/>
+															<xs:enumeration value="OS"/>
+														</xs:restriction>
+													</xs:simpleType>
+												</xs:element>
+												<xs:element name="Index" type="HexDecValue"/>
+												<xs:element name="SubIndex" type="HexDecValue"/>
+												<xs:element name="Data">
+													<xs:complexType>
+														<xs:simpleContent>
+															<xs:extension base="xs:hexBinary">
+																<xs:attribute name="AdaptAutomatically" type="xs:boolean" use="optional"/>
+															</xs:extension>
+														</xs:simpleContent>
+													</xs:complexType>
+												</xs:element>
+												<xs:element name="Comment" type="xs:string" minOccurs="0"/>
+											</xs:sequence>
+											<xs:attribute name="Fixed" type="xs:boolean" use="optional">
+												<xs:annotation>
+													<xs:documentation>obsolete</xs:documentation>
+												</xs:annotation>
+											</xs:attribute>
+											<xs:attribute name="CompleteAccess" type="xs:boolean" use="optional"/>
+											<xs:attribute name="OverwrittenByModule" type="xs:boolean" use="optional"/>
+										</xs:complexType>
+									</xs:element>
+								</xs:sequence>
+								<xs:attribute name="SdoInfo" type="xs:boolean" use="optional"/>
+								<xs:attribute name="PdoAssign" type="xs:boolean" use="optional"/>
+								<xs:attribute name="PdoConfig" type="xs:boolean" use="optional"/>
+								<xs:attribute name="PdoUpload" type="xs:boolean" use="optional"/>
+								<xs:attribute name="CompleteAccess" type="xs:boolean" use="optional"/>
+								<xs:attribute name="EdsFile" type="xs:string" use="optional"/>
+								<xs:attribute name="DS402Channels" type="xs:int" use="optional">
+									<xs:annotation>
+										<xs:documentation>obsolete</xs:documentation>
+									</xs:annotation>
+								</xs:attribute>
+								<xs:attribute name="SegmentedSdo" type="xs:boolean" use="optional"/>
+								<xs:attribute name="DiagHistory" type="xs:boolean" use="optional"/>
+							</xs:complexType>
+						</xs:element>
+						<xs:element name="FoE" minOccurs="0"/>
+						<xs:element name="SoE" minOccurs="0">
+							<xs:complexType>
+								<xs:sequence>
+									<xs:element name="InitCmd" minOccurs="0" maxOccurs="unbounded">
+										<xs:complexType>
+											<xs:sequence>
+												<xs:element name="Transition" maxOccurs="unbounded">
+													<xs:simpleType>
+														<xs:restriction base="xs:NMTOKEN">
+															<xs:enumeration value="PS"/>
+															<xs:enumeration value="SO"/>
+															<xs:enumeration value="SP"/>
+															<xs:enumeration value="OP"/>
+															<xs:enumeration value="OS"/>
+														</xs:restriction>
+													</xs:simpleType>
+												</xs:element>
+												<xs:element name="IDN" type="xs:int"/>
+												<xs:element name="Data" type="xs:hexBinary"/>
+												<xs:element name="Comment" type="xs:string" minOccurs="0"/>
+											</xs:sequence>
+											<xs:attribute name="Chn" type="xs:int" use="optional" default="0"/>
+										</xs:complexType>
+									</xs:element>
+								</xs:sequence>
+								<xs:attribute name="ChannelCount" type="xs:int" use="optional"/>
+								<xs:attribute name="DriveFollowsBit3Support" type="xs:boolean" use="optional"/>
+							</xs:complexType>
+						</xs:element>
+						<xs:element name="VoE" minOccurs="0">
+							<xs:complexType>
+								<xs:sequence>
+									<xs:any minOccurs="0" maxOccurs="unbounded"/>
+								</xs:sequence>
+							</xs:complexType>
+						</xs:element>
+						<xs:element name="VendorSpecific" type="VendorSpecificType" minOccurs="0"/>
+					</xs:sequence>
+					<xs:attribute name="DataLinkLayer" type="xs:boolean" use="optional" default="0"/>
+					<xs:attribute name="RealTimeMode" type="xs:boolean" use="optional" default="0">
+						<xs:annotation>
+							<xs:documentation>for future use</xs:documentation>
+						</xs:annotation>
+					</xs:attribute>
+				</xs:complexType>
+			</xs:element>
+			<xs:element name="Dc" minOccurs="0">
+				<xs:complexType>
+					<xs:sequence>
+						<xs:element name="OpMode" minOccurs="0" maxOccurs="unbounded">
+							<xs:complexType>
+								<xs:sequence>
+									<xs:element name="Name" type="xs:string"/>
+									<xs:element name="Desc" type="xs:string" minOccurs="0"/>
+									<xs:element name="AssignActivate" type="HexDecValue"/>
+									<xs:element name="CycleTimeSync0" minOccurs="0">
+										<xs:complexType>
+											<xs:simpleContent>
+												<xs:extension base="xs:int">
+													<xs:attribute name="Factor" type="xs:int" use="optional"/>
+												</xs:extension>
+											</xs:simpleContent>
+										</xs:complexType>
+									</xs:element>
+									<xs:element name="ShiftTimeSync0" minOccurs="0">
+										<xs:complexType>
+											<xs:simpleContent>
+												<xs:extension base="xs:int">
+													<xs:attribute name="Factor" type="xs:int" use="optional"/>
+													<xs:attribute name="Input" type="xs:boolean" use="optional"/>
+													<xs:attribute name="OutputDelayTime" type="xs:int" use="optional"/>
+													<xs:attribute name="InputDelayTime" type="xs:int" use="optional"/>
+												</xs:extension>
+											</xs:simpleContent>
+										</xs:complexType>
+									</xs:element>
+									<xs:element name="CycleTimeSync1" minOccurs="0">
+										<xs:complexType>
+											<xs:simpleContent>
+												<xs:extension base="xs:int">
+													<xs:attribute name="Factor" type="xs:int" use="optional"/>
+												</xs:extension>
+											</xs:simpleContent>
+										</xs:complexType>
+									</xs:element>
+									<xs:element name="ShiftTimeSync1" minOccurs="0">
+										<xs:complexType>
+											<xs:simpleContent>
+												<xs:extension base="xs:int">
+													<xs:attribute name="Factor" type="xs:int" use="optional">
+														<xs:annotation>
+															<xs:documentation>for future use</xs:documentation>
+														</xs:annotation>
+													</xs:attribute>
+													<xs:attribute name="Input" type="xs:boolean" use="optional"/>
+													<xs:attribute name="OutputDelayTime" type="xs:int" use="optional"/>
+													<xs:attribute name="InputDelayTime" type="xs:int" use="optional"/>
+												</xs:extension>
+											</xs:simpleContent>
+										</xs:complexType>
+									</xs:element>
+									<xs:element name="Sm" minOccurs="0" maxOccurs="unbounded">
+										<xs:complexType>
+											<xs:sequence>
+												<xs:element name="SyncType" type="xs:int" minOccurs="0">
+													<xs:annotation>
+														<xs:documentation>obsolete</xs:documentation>
+													</xs:annotation>
+												</xs:element>
+												<xs:element name="CycleTime" minOccurs="0">
+													<xs:annotation>
+														<xs:documentation>obsolete</xs:documentation>
+													</xs:annotation>
+													<xs:complexType>
+														<xs:simpleContent>
+															<xs:extension base="xs:int">
+																<xs:attribute name="Factor" type="xs:int" use="optional">
+																	<xs:annotation>
+																		<xs:documentation>obsolete</xs:documentation>
+																	</xs:annotation>
+																</xs:attribute>
+															</xs:extension>
+														</xs:simpleContent>
+													</xs:complexType>
+												</xs:element>
+												<xs:element name="ShiftTime" minOccurs="0">
+													<xs:annotation>
+														<xs:documentation>obsolete</xs:documentation>
+													</xs:annotation>
+													<xs:complexType>
+														<xs:simpleContent>
+															<xs:extension base="xs:int">
+																<xs:attribute name="MinAfterSync" type="xs:int" use="optional">
+																	<xs:annotation>
+																		<xs:documentation>obsolete</xs:documentation>
+																	</xs:annotation>
+																</xs:attribute>
+																<xs:attribute name="MinBeforeFrame" type="xs:int" use="optional">
+																	<xs:annotation>
+																		<xs:documentation>obsolete</xs:documentation>
+																	</xs:annotation>
+																</xs:attribute>
+															</xs:extension>
+														</xs:simpleContent>
+													</xs:complexType>
+												</xs:element>
+												<xs:element name="Pdo" minOccurs="0" maxOccurs="unbounded">
+													<xs:complexType>
+														<xs:simpleContent>
+															<xs:extension base="HexDecValue">
+																<xs:attribute name="OSFac" type="xs:int"/>
+															</xs:extension>
+														</xs:simpleContent>
+													</xs:complexType>
+												</xs:element>
+											</xs:sequence>
+											<xs:attribute name="No" type="xs:int" use="required"/>
+										</xs:complexType>
+									</xs:element>
+									<xs:element name="VendorSpecific" type="VendorSpecificType" minOccurs="0"/>
+								</xs:sequence>
+							</xs:complexType>
+						</xs:element>
+						<xs:element name="VendorSpecific" type="VendorSpecificType" minOccurs="0"/>
+					</xs:sequence>
+					<xs:attribute name="UnknownFRMW" type="xs:boolean" use="optional"/>
+					<xs:attribute name="Unknown64Bit" type="xs:boolean" use="optional"/>
+					<xs:attribute name="ExternalRefClock" type="xs:boolean" use="optional"/>
+				</xs:complexType>
+			</xs:element>
+			<xs:element name="Slots" minOccurs="0">
+				<xs:complexType>
+					<xs:sequence>
+						<xs:element name="Slot" type="SlotType" minOccurs="0" maxOccurs="unbounded"/>
+						<xs:element name="ModulePdoGroup" minOccurs="0" maxOccurs="unbounded">
+							<xs:complexType>
+								<xs:simpleContent>
+									<xs:extension base="xs:string">
+										<xs:attribute name="Alignment" type="xs:int" use="optional"/>
+										<xs:attribute name="RxPdo" type="HexDecValue" use="optional"/>
+										<xs:attribute name="TxPdo" type="HexDecValue" use="optional"/>
+									</xs:extension>
+								</xs:simpleContent>
+							</xs:complexType>
+						</xs:element>
+					</xs:sequence>
+					<xs:attribute name="MaxSlotCount" type="HexDecValue" use="optional"/>
+					<xs:attribute name="MaxSlotGroupCount" type="HexDecValue" use="optional"/>
+					<xs:attribute name="SlotPdoIncrement" type="HexDecValue" use="optional"/>
+					<xs:attribute name="SlotGroupPdoIncrement" type="HexDecValue" use="optional"/>
+					<xs:attribute name="SlotIndexIncrement" type="HexDecValue" use="optional"/>
+					<xs:attribute name="SlotGroupIndexIncrement" type="HexDecValue" use="optional"/>
+					<xs:attribute name="IdentifyModuleBy">
+						<xs:annotation>
+							<xs:documentation>obsolete</xs:documentation>
+						</xs:annotation>
+						<xs:simpleType>
+							<xs:restriction base="xs:NMTOKEN">
+								<xs:enumeration value="ModuleIdent"/>
+								<xs:enumeration value="IdentityObjekt"/>
+							</xs:restriction>
+						</xs:simpleType>
+					</xs:attribute>
+				</xs:complexType>
+			</xs:element>
+			<xs:element name="ESC" minOccurs="0">
+				<xs:complexType>
+					<xs:sequence>
+						<xs:element name="Reg0108" type="HexDecValue" minOccurs="0"/>
+						<xs:element name="Reg0400" type="HexDecValue" minOccurs="0"/>
+						<xs:element name="Reg0410" type="HexDecValue" minOccurs="0"/>
+						<xs:element name="Reg0420" type="HexDecValue" minOccurs="0"/>
+						<xs:element name="VendorSpecific" type="VendorSpecificType" minOccurs="0"/>
+					</xs:sequence>
+				</xs:complexType>
+			</xs:element>
+			<xs:element name="Eeprom" minOccurs="0">
+				<xs:complexType>
+					<xs:complexContent>
+						<xs:extension base="EepromType">
+							<xs:attribute name="AssignToPdi" type="xs:boolean"/>
+						</xs:extension>
+					</xs:complexContent>
+				</xs:complexType>
+			</xs:element>
+			<xs:choice minOccurs="0">
+				<xs:element name="Image16x14" type="xs:string" minOccurs="0">
+					<xs:annotation>
+						<xs:documentation>obsolete</xs:documentation>
+					</xs:annotation>
+				</xs:element>
+				<xs:element name="ImageFile16x14" type="xs:string" minOccurs="0"/>
+				<xs:element name="ImageData16x14" type="xs:hexBinary" minOccurs="0"/>
+			</xs:choice>
+			<xs:element name="VendorSpecific" type="VendorSpecificType" minOccurs="0"/>
+		</xs:sequence>
+	</xs:complexType>
+	<xs:complexType name="GroupType">
+		<xs:sequence>
+			<xs:element name="Type" type="xs:string"/>
+			<xs:element name="Name" type="NameType" maxOccurs="unbounded"/>
+			<xs:element name="Comment" type="NameType" minOccurs="0" maxOccurs="unbounded"/>
+			<xs:choice>
+				<xs:element name="Image16x14" type="xs:string" minOccurs="0">
+					<xs:annotation>
+						<xs:documentation>obsolete</xs:documentation>
+					</xs:annotation>
+				</xs:element>
+				<xs:element name="ImageFile16x14" type="xs:string" minOccurs="0"/>
+				<xs:element name="ImageData16x14" type="xs:hexBinary" minOccurs="0"/>
+			</xs:choice>
+			<xs:element name="VendorSpecific" type="VendorSpecificType" minOccurs="0"/>
+		</xs:sequence>
+	</xs:complexType>
+	<xs:complexType name="EepromType">
+		<xs:sequence>
+			<xs:choice>
+				<xs:element name="Data" type="xs:hexBinary"/>
+				<xs:sequence>
+					<xs:element name="ByteSize" type="xs:int"/>
+					<xs:element name="ConfigData" type="xs:hexBinary"/>
+					<xs:element name="BootStrap" type="xs:hexBinary" minOccurs="0"/>
+					<xs:element name="Category" minOccurs="0" maxOccurs="unbounded">
+						<xs:complexType>
+							<xs:sequence>
+								<xs:element name="CatNo">
+									<xs:complexType>
+										<xs:simpleContent>
+											<xs:extension base="xs:int"/>
+										</xs:simpleContent>
+									</xs:complexType>
+								</xs:element>
+								<xs:choice>
+									<xs:element name="Data" type="xs:hexBinary"/>
+									<xs:element name="DataString" type="xs:string"/>
+									<xs:element name="DataUINT" type="xs:int"/>
+									<xs:element name="DataUDINT" type="xs:int"/>
+								</xs:choice>
+							</xs:sequence>
+							<xs:attribute name="PreserveOnlineData" type="xs:boolean" use="optional"/>
+						</xs:complexType>
+					</xs:element>
+				</xs:sequence>
+			</xs:choice>
+			<xs:element name="VendorSpecific" type="VendorSpecificType" minOccurs="0"/>
+		</xs:sequence>
+	</xs:complexType>
+	<xs:complexType name="InfoType">
+		<xs:sequence>
+			<xs:element name="Electrical" minOccurs="0">
+				<xs:complexType>
+					<xs:sequence>
+						<xs:element name="EBusCurrent" type="xs:int"/>
+					</xs:sequence>
+				</xs:complexType>
+			</xs:element>
+			<xs:element name="StateMachine" minOccurs="0">
+				<xs:complexType>
+					<xs:sequence>
+						<xs:element name="Timeout" minOccurs="0">
+							<xs:complexType>
+								<xs:sequence>
+									<xs:element name="PreopTimeout" type="xs:int"/>
+									<xs:element name="SafeopOpTimeout" type="xs:int"/>
+									<xs:element name="BackToInitTimeout" type="xs:int"/>
+									<xs:element name="BackToSafeopTimeout" type="xs:int"/>
+								</xs:sequence>
+							</xs:complexType>
+						</xs:element>
+						<xs:element name="Behavior" minOccurs="0">
+							<xs:complexType>
+								<xs:attribute name="StartToInit" type="xs:boolean" use="optional"/>
+								<xs:attribute name="StartToPreop" type="xs:boolean" use="optional"/>
+								<xs:attribute name="StartToSafeop" type="xs:boolean" use="optional"/>
+								<xs:attribute name="StartToSafeopNoSync" type="xs:boolean" use="optional"/>
+							</xs:complexType>
+						</xs:element>
+					</xs:sequence>
+				</xs:complexType>
+			</xs:element>
+			<xs:element name="Mailbox" minOccurs="0">
+				<xs:complexType>
+					<xs:sequence>
+						<xs:element name="Timeout">
+							<xs:complexType>
+								<xs:sequence>
+									<xs:element name="RequestTimeout" type="xs:int"/>
+									<xs:element name="ResponseTimeout" type="xs:int"/>
+								</xs:sequence>
+							</xs:complexType>
+						</xs:element>
+					</xs:sequence>
+				</xs:complexType>
+			</xs:element>
+			<xs:element name="EtherCATController" minOccurs="0">
+				<xs:complexType>
+					<xs:sequence>
+						<xs:element name="DpramSize" type="xs:int" default="4096" minOccurs="0"/>
+						<xs:element name="SmCount" type="xs:int" minOccurs="0"/>
+						<xs:element name="FmmuCount" type="xs:int" minOccurs="0"/>
+					</xs:sequence>
+				</xs:complexType>
+			</xs:element>
+			<xs:element name="Port" minOccurs="0" maxOccurs="4">
+				<xs:complexType>
+					<xs:sequence>
+						<xs:element name="Type">
+							<xs:simpleType>
+								<xs:restriction base="xs:NMTOKEN">
+									<xs:enumeration value="MII"/>
+									<xs:enumeration value="EBUS"/>
+									<xs:enumeration value="NONE"/>
+								</xs:restriction>
+							</xs:simpleType>
+						</xs:element>
+						<xs:element name="Connector" type="xs:string" minOccurs="0"/>
+						<xs:element name="Label" type="xs:string" minOccurs="0"/>
+						<xs:element name="RxDelay" type="xs:int" minOccurs="0">
+							<xs:annotation>
+								<xs:documentation>in 100ps</xs:documentation>
+							</xs:annotation>
+						</xs:element>
+						<xs:element name="TxDelay" type="xs:int" minOccurs="0">
+							<xs:annotation>
+								<xs:documentation>in 100ps</xs:documentation>
+							</xs:annotation>
+						</xs:element>
+						<xs:element name="PhysicalPhyAddr" type="xs:int" minOccurs="0"/>
+					</xs:sequence>
+				</xs:complexType>
+			</xs:element>
+			<xs:element name="ExecutionUnit" minOccurs="0" maxOccurs="2">
+				<xs:complexType>
+					<xs:sequence>
+						<xs:element name="Type">
+							<xs:simpleType>
+								<xs:restriction base="xs:NMTOKEN">
+									<xs:enumeration value="PRIMARY"/>
+									<xs:enumeration value="SECONDARY"/>
+									<xs:enumeration value="NONE"/>
+								</xs:restriction>
+							</xs:simpleType>
+						</xs:element>
+						<xs:element name="RxDelay" type="xs:int" minOccurs="0">
+							<xs:annotation>
+								<xs:documentation>in 100ps</xs:documentation>
+							</xs:annotation>
+						</xs:element>
+						<xs:element name="TxDelay" type="xs:int" minOccurs="0">
+							<xs:annotation>
+								<xs:documentation>in 100ps</xs:documentation>
+							</xs:annotation>
+						</xs:element>
+					</xs:sequence>
+				</xs:complexType>
+			</xs:element>
+			<xs:element name="VendorSpecific" type="VendorSpecificType" minOccurs="0"/>
+			<xs:element name="StationAliasSupported" minOccurs="0">
+				<xs:annotation>
+					<xs:documentation>obsolete</xs:documentation>
+				</xs:annotation>
+				<xs:simpleType>
+					<xs:restriction base="xs:NMTOKEN">
+						<xs:enumeration value="NO_SUPPORT"/>
+						<xs:enumeration value="REGISTER_SUPPORT"/>
+						<xs:enumeration value="PROCESSDATA_SUPPORT"/>
+					</xs:restriction>
+				</xs:simpleType>
+			</xs:element>
+			<xs:element name="IdentificationAdo" type="HexDecValue" minOccurs="0"/>
+			<xs:element name="DeviceFeature" minOccurs="0" maxOccurs="unbounded">
+				<xs:annotation>
+					<xs:documentation>for future use</xs:documentation>
+				</xs:annotation>
+				<xs:complexType>
+					<xs:sequence>
+						<xs:element name="Name" type="xs:string">
+							<xs:annotation>
+								<xs:documentation>for future use</xs:documentation>
+							</xs:annotation>
+						</xs:element>
+						<xs:element name="Value" type="xs:string" minOccurs="0">
+							<xs:annotation>
+								<xs:documentation>for future use</xs:documentation>
+							</xs:annotation>
+						</xs:element>
+						<xs:element name="Description" type="xs:string" minOccurs="0">
+							<xs:annotation>
+								<xs:documentation>for future use</xs:documentation>
+							</xs:annotation>
+						</xs:element>
+						<xs:element name="Register" minOccurs="0" maxOccurs="unbounded">
+							<xs:annotation>
+								<xs:documentation>for future use</xs:documentation>
+							</xs:annotation>
+							<xs:complexType>
+								<xs:sequence>
+									<xs:element name="StartAddress" type="xs:int">
+										<xs:annotation>
+											<xs:documentation>for future use;
+in bytes</xs:documentation>
+										</xs:annotation>
+									</xs:element>
+									<xs:element name="Length" type="xs:int">
+										<xs:annotation>
+											<xs:documentation>for future use;
+in bytes</xs:documentation>
+										</xs:annotation>
+									</xs:element>
+									<xs:element name="BitMask" type="HexDecValue" minOccurs="0">
+										<xs:annotation>
+											<xs:documentation>for future use</xs:documentation>
+										</xs:annotation>
+									</xs:element>
+								</xs:sequence>
+							</xs:complexType>
+						</xs:element>
+					</xs:sequence>
+				</xs:complexType>
+			</xs:element>
+		</xs:sequence>
+	</xs:complexType>
+	<xs:simpleType name="PhysicsType">
+		<xs:restriction base="xs:string">
+			<xs:pattern value="[Y,K, ]{0,4}"/>
+		</xs:restriction>
+	</xs:simpleType>
+	<xs:complexType name="SlotType">
+		<xs:sequence>
+			<xs:element name="Name" type="NameType" minOccurs="0" maxOccurs="unbounded"/>
+			<xs:choice>
+				<xs:element name="ModuleIdent" maxOccurs="unbounded">
+					<xs:complexType>
+						<xs:simpleContent>
+							<xs:extension base="HexDecValue">
+								<xs:attribute name="Default" type="HexDecValue" use="optional"/>
+							</xs:extension>
+						</xs:simpleContent>
+					</xs:complexType>
+				</xs:element>
+				<xs:element name="ModuleClass" maxOccurs="unbounded">
+					<xs:complexType>
+						<xs:sequence>
+							<xs:element name="Class" type="xs:string"/>
+							<xs:element name="VendorId" type="HexDecValue" minOccurs="0"/>
+							<xs:element name="Name" type="NameType" minOccurs="0" maxOccurs="unbounded"/>
+							<xs:choice minOccurs="0">
+								<xs:element name="Image16x14" type="xs:string" minOccurs="0">
+									<xs:annotation>
+										<xs:documentation>obsolete</xs:documentation>
+									</xs:annotation>
+								</xs:element>
+								<xs:element name="ImageFile16x14" type="xs:string" minOccurs="0"/>
+								<xs:element name="ImageData16x14" type="xs:hexBinary" minOccurs="0"/>
+							</xs:choice>
+						</xs:sequence>
+					</xs:complexType>
+				</xs:element>
+			</xs:choice>
+			<xs:choice minOccurs="0">
+				<xs:element name="Image16x14" type="xs:string" minOccurs="0">
+					<xs:annotation>
+						<xs:documentation>obsolete</xs:documentation>
+					</xs:annotation>
+				</xs:element>
+				<xs:element name="ImageFile16x14" type="xs:string" minOccurs="0"/>
+				<xs:element name="ImageData16x14" type="xs:hexBinary" minOccurs="0"/>
+			</xs:choice>
+		</xs:sequence>
+		<xs:attribute name="SlotGroup" type="HexDecValue" use="optional"/>
+		<xs:attribute name="MinInstances" type="HexDecValue" use="required"/>
+		<xs:attribute name="MaxInstances" type="HexDecValue" use="required"/>
+		<xs:attribute name="SlotPdoIncrement" type="HexDecValue" use="optional"/>
+		<xs:attribute name="SlotGroupPdoIncrement" type="HexDecValue" use="optional"/>
+		<xs:attribute name="SlotIndexIncrement" type="HexDecValue" use="optional"/>
+		<xs:attribute name="SlotGroupIndexIncrement" type="HexDecValue" use="optional"/>
+		<xs:attribute name="TreeView" use="optional">
+			<xs:simpleType>
+				<xs:restriction base="xs:NMTOKEN">
+					<xs:enumeration value="SLOTGROUP"/>
+					<xs:enumeration value="SLOT"/>
+					<xs:enumeration value="PDO"/>
+				</xs:restriction>
+			</xs:simpleType>
+		</xs:attribute>
+	</xs:complexType>
+</xs:schema>
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/etherlab/EtherCATManagementEditor.py	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,2207 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+# This file is part of Beremiz
+#
+# Copyright (C) 2013: Real-Time & Embedded Systems (RTES) Lab., University of Seoul
+#
+# See COPYING file for copyrights details.
+
+import os
+
+import wx
+import wx.grid
+import wx.gizmos
+import wx.lib.buttons
+
+# --------------------------------------------------------------------
+from controls import CustomGrid, CustomTable
+# --------------------------------------------------------------------
+
+# ------------ for SDO Management --------------------
+import string
+import wx.grid as gridlib
+#-------------------------------------------------------------
+
+# ------------ for register management --------------- 
+from xml.dom import minidom
+#-------------------------------------------------------------
+
+# ----------------------------- For Sync Manager Table -----------------------------------
+def GetSyncManagersTableColnames():
+    """
+    Returns column names of SyncManager Table in Slave state panel.
+    """
+    _ = lambda x : x
+    return ["#", _("Name"), _("Start Address"), _("Default Size"), _("Control Byte"), _("Enable")]
+
+#-------------------------------------------------------------------------------
+#                    Sync Managers Table
+#-------------------------------------------------------------------------------
+class SyncManagersTable(CustomTable):
+    def GetValue(self, row, col): 
+        if row < self.GetNumberRows():
+            if col == 0:
+                return row
+            return self.data[row].get(self.GetColLabelValue(col, False), "")
+
+#-------------------------------------------------------------------------------
+#                    EtherCAT Management Treebook
+#-------------------------------------------------------------------------------
+class EtherCATManagementTreebook(wx.Treebook):
+    def __init__(self, parent, controler, node_editor):
+        """
+        Constructor
+        @param parent: Reference to the parent wx.ScrolledWindow object
+        @param controler: _EthercatSlaveCTN class in EthercatSlave.py
+        @param node_editor: Reference to Beremiz frame
+        """
+        wx.Treebook.__init__(self, parent, -1, size=wx.DefaultSize, style=wx.BK_DEFAULT)
+        self.parent = parent
+        self.Controler = controler
+        self.NodeEditor = node_editor
+        
+        self.EtherCATManagementClassObject = {}
+        
+        # fill EtherCAT Management Treebook
+        for pname, pclass, subs in [
+            ("Slave State",        SlaveStatePanelClass, []),
+            ("SDO Management",     SDOPanelClass, []),
+            ("PDO Monitoring",     PDOPanelClass, []),
+            ("ESC Management",     EEPROMAccessPanel, [        
+                    ("Smart View", SlaveSiiSmartView),
+                    ("Hex View", HexView)]),
+            ("Register Access",     RegisterAccessPanel, [])]:
+                self.AddPage(pclass(self, self.Controler), pname)
+                for spname, spclass in subs:
+                    self.AddSubPage(spclass(self, self.Controler), spname)
+
+        self.Bind(wx.EVT_TREEBOOK_PAGE_CHANGED, self.OnPageChanged)
+        self.Bind(wx.EVT_TREEBOOK_PAGE_CHANGING, self.OnPageChanging)
+        
+    def OnPageChanged(self, event):
+        old = event.GetOldSelection()
+        new = event.GetSelection()
+        sel = event.GetSelection()
+        event.Skip()
+        
+    def OnPageChanging(self, event):
+        old = event.GetOldSelection()
+        new = event.GetSelection()
+        sel = event.GetSelection()
+        event.Skip()    
+        
+#-------------------------------------------------------------------------------
+#                    For SlaveState Panel
+#-------------------------------------------------------------------------------        
+class SlaveStatePanelClass(wx.Panel):
+    def __init__(self, parent, controler):
+        """
+        Constructor
+        @param parent: Reference to the parent EtherCATManagementTreebook class
+        @param controler: _EthercatSlaveCTN class in EthercatSlave.py
+        """
+        wx.Panel.__init__(self, parent, -1, (0, 0), size=wx.DefaultSize, style = wx.SUNKEN_BORDER)
+        self.Controler = controler
+        self.parent = parent
+        
+        # initialize SlaveStatePanel UI dictionaries
+        self.StaticBoxDic = {}
+        self.StaticTextDic = {}
+        self.TextCtrlDic = {}
+        self.ButtonDic = {}
+        
+        # iniitalize BoxSizer and FlexGridSizer
+        self.SizerDic = {
+            "SlaveState_main_sizer" : wx.BoxSizer(wx.VERTICAL),
+            "SlaveState_inner_main_sizer" : wx.FlexGridSizer(cols=1, hgap=50, rows=3, vgap=10),
+            "SlaveInfosDetailsInnerSizer" : wx.FlexGridSizer(cols=4, hgap=10, rows=2, vgap=10),
+            "SyncManagerInnerSizer" : wx.FlexGridSizer(cols=1, hgap=5, rows=1, vgap=5),
+            "SlaveState_sizer" : wx.FlexGridSizer(cols=1, hgap=10, rows=2, vgap=10),
+            "SlaveState_up_sizer" : wx.FlexGridSizer(cols=4, hgap=10, rows=2, vgap=10),
+            "SlaveState_down_sizer" : wx.FlexGridSizer(cols=2, hgap=10, rows=1, vgap=10)}
+        
+        # initialize StaticBox and StaticBoxSizer
+        for box_name, box_label in [
+                ("SlaveInfosDetailsBox", "Slave Informations"),
+                ("SyncManagerBox", "Sync Manager"),
+                ("SlaveStateBox", "Slave State Transition && Monitoring")]:
+            self.StaticBoxDic[box_name] = wx.StaticBox(self, label=_(box_label))
+            self.SizerDic[box_name] = wx.StaticBoxSizer(self.StaticBoxDic[box_name])  
+        
+        for statictext_name, statictext_label, textctrl_name in [
+                ("VendorLabel", "Vendor:", "vendor"),
+                ("ProductcodeLabel", "Product code:", "product_code"),
+                ("RevisionnumberLabel", "Slave Count:", "revision_number"),
+                ("PhysicsLabel", "Physics:", "physics")]:
+            self.StaticTextDic[statictext_name] = wx.StaticText(self, label=_(statictext_label))
+            self.TextCtrlDic[textctrl_name] = wx.TextCtrl(self, size=wx.Size(130, 24), style=wx.TE_READONLY)
+            self.SizerDic["SlaveInfosDetailsInnerSizer"].AddMany([self.StaticTextDic[statictext_name], 
+                                                               self.TextCtrlDic[textctrl_name]])    
+        
+        self.SizerDic["SlaveInfosDetailsBox"].AddSizer(self.SizerDic["SlaveInfosDetailsInnerSizer"])
+        
+        self.SyncManagersGrid = CustomGrid(self, size=wx.Size(605,155), style=wx.VSCROLL)      
+               
+        self.SizerDic["SyncManagerInnerSizer"].Add(self.SyncManagersGrid)    
+        self.SizerDic["SyncManagerBox"].Add(self.SizerDic["SyncManagerInnerSizer"])
+        
+        for button_name, button_id, button_label, button_tooltipstring, event_method, sub_item in [
+                ("InitButton",   0, "INIT", "State Transition to \"Init\" State",     self.OnButtonClick, []),
+                ("PreOPButton",  1, "PREOP", "State Transition to \"PreOP\" State",   self.OnButtonClick, [
+                        ("TargetStateLabel", "Target State:" , "TargetState")]),
+                ("SafeOPButton", 2, "SAFEOP", "State Transition to \"SafeOP\" State", self.OnButtonClick, []),
+                ("OPButton",     3, "OP",  "State Transition to \"OP\" State",        self.OnButtonClick, [
+                        ("CurrentStateLabel", "Current State:", "CurrentState")])]:
+            self.ButtonDic[button_name] = wx.Button(self, id=button_id ,label=_(button_label))
+            self.ButtonDic[button_name].Bind(wx.EVT_BUTTON, event_method)
+            self.ButtonDic[button_name].SetToolTipString(button_tooltipstring)
+            self.SizerDic["SlaveState_up_sizer"].Add(self.ButtonDic[button_name])
+            for statictext_name, statictext_label, textctrl_name in sub_item :
+                self.StaticTextDic[statictext_name] = wx.StaticText(self, label=_(statictext_label))
+                self.TextCtrlDic[textctrl_name] = wx.TextCtrl(self, size=wx.DefaultSize, style=wx.TE_READONLY)
+                self.SizerDic["SlaveState_up_sizer"].AddMany([self.StaticTextDic[statictext_name], 
+                                                               self.TextCtrlDic[textctrl_name]])
+                
+        for button_name, button_label, button_tooltipstring, event_method in [
+                ("StartTimerButton", "Start State Monitoring", "Slave State Update Restart", self.StartTimer),
+                ("StopTimerButton", "Stop State Monitoring", "Slave State Update Stop", self.CurrentStateThreadStop)]:
+            self.ButtonDic[button_name] = wx.Button(self, label=_(button_label))
+            self.ButtonDic[button_name].Bind(wx.EVT_BUTTON, event_method)
+            self.ButtonDic[button_name].SetToolTipString(button_tooltipstring)
+            self.SizerDic["SlaveState_down_sizer"].Add(self.ButtonDic[button_name])   
+        
+        self.SizerDic["SlaveState_sizer"].AddMany([self.SizerDic["SlaveState_up_sizer"], 
+            self.SizerDic["SlaveState_down_sizer"]])
+        
+        self.SizerDic["SlaveStateBox"].Add(self.SizerDic["SlaveState_sizer"])
+        
+        self.SizerDic["SlaveState_inner_main_sizer"].AddMany([
+            self.SizerDic["SlaveInfosDetailsBox"], self.SizerDic["SyncManagerBox"],
+            self.SizerDic["SlaveStateBox"]])
+        
+        self.SizerDic["SlaveState_main_sizer"].Add(self.SizerDic["SlaveState_inner_main_sizer"])
+        
+        self.SetSizer(self.SizerDic["SlaveState_main_sizer"])
+        
+        # register a timer for periodic exectuion of slave state update (period: 1000 ms)
+        self.Bind(wx.EVT_TIMER, self.GetCurrentState)
+        
+        self.CreateSyncManagerTable()
+        
+        self.Centre()
+    
+    def CreateSyncManagerTable(self):
+        """
+        Create grid for "SyncManager"
+        """
+        # declare Table object 
+        self.SyncManagersTable = SyncManagersTable(self, [], GetSyncManagersTableColnames())
+        self.SyncManagersGrid.SetTable(self.SyncManagersTable)
+        # set grid alignment attr. (CENTER)
+        self.SyncManagersGridColAlignements = [wx.ALIGN_CENTRE, wx.ALIGN_CENTRE, wx.ALIGN_CENTRE, 
+                                               wx.ALIGN_CENTRE, wx.ALIGN_CENTRE, wx.ALIGN_CENTRE]
+        # set grid size
+        self.SyncManagersGridColSizes = [40, 150, 100, 100, 100, 100]
+        self.SyncManagersGrid.SetRowLabelSize(0)
+        for col in range(self.SyncManagersTable.GetNumberCols()):
+            attr = wx.grid.GridCellAttr()
+            attr.SetAlignment(self.SyncManagersGridColAlignements[col], wx.ALIGN_CENTRE)
+            self.SyncManagersGrid.SetColAttr(col, attr)
+            self.SyncManagersGrid.SetColMinimalWidth(col, self.SyncManagersGridColSizes[col])
+            self.SyncManagersGrid.AutoSizeColumn(col, False) 
+        
+        self.RefreshSlaveInfos()
+        
+    def RefreshSlaveInfos(self):
+        """
+        Fill data in "Slave Information" and "SyncManager"
+        """
+        slave_infos = self.Controler.GetSlaveInfos()
+        sync_manager_section = ["vendor", "product_code", "revision_number", "physics"]
+        if slave_infos is not None:
+            # this method is same as "TextCtrl.SetValue" 
+            for textctrl_name in sync_manager_section:
+                self.TextCtrlDic[textctrl_name].SetValue(slave_infos[textctrl_name])
+            self.SyncManagersTable.SetData(slave_infos["sync_managers"])
+            self.SyncManagersTable.ResetView(self.SyncManagersGrid)
+        else:
+            for textctrl_name in sync_manager_section:
+                self.TextCtrlDic[textctrl_name].SetValue("")
+            self.SyncManagersTable.SetData([])
+            self.SyncManagersTable.ResetView(self.SyncManagersGrid)
+        
+    def OnButtonClick(self, event):
+        """
+        Event handler for slave state transition button click (Init, PreOP, SafeOP, OP button)
+        @param event : wx.EVT_BUTTON object
+        """
+        check_connect_flag = self.Controler.CommonMethod.CheckConnect(False)
+        if check_connect_flag :
+            state_dic = ["INIT", "PREOP", "SAFEOP", "OP"]
+              
+            # If target state is one of {INIT, PREOP, SAFEOP}, request slave state transition immediately.
+            if event.GetId() < 3 :
+                self.Controler.CommonMethod.RequestSlaveState(state_dic[event.GetId()])
+                self.TextCtrlDic["TargetState"].SetValue(state_dic[event.GetId()])
+
+            # If target state is OP, first check "PLC status".
+            #  (1) If current PLC status is "Started", then request slave state transition
+            #  (2) Otherwise, show error message and return
+            else :
+                status, count = self.Controler.GetCTRoot()._connector.GetPLCstatus()
+                if status == "Started" :
+                    self.Controler.CommonMethod.RequestSlaveState("OP")
+                    self.TextCtrlDic["TargetState"].SetValue("OP")
+                else :
+                    self.Controler.CommonMethod.CreateErrorDialog("PLC is Not Started")  
+     
+    def GetCurrentState(self, event):
+        """
+        Timer event handler for periodic slave state monitoring (Default period: 1 sec = 1000 msec).
+        @param event : wx.TIMER object
+        """
+        check_connect_flag = self.Controler.CommonMethod.CheckConnect(True)
+        if check_connect_flag:
+            returnVal = self.Controler.CommonMethod.GetSlaveStateFromSlave()
+            line = returnVal.split("\n")
+            try :
+                self.SetCurrentState(line[self.Controler.GetSlavePos()])
+            except :
+                pass  
+            
+    def SetCurrentState(self, line):
+        """
+        Show current slave state using the executiob result of "ethercat slaves" command.
+        @param line : result of "ethercat slaves" command
+        """
+        state_array = ["INIT", "PREOP", "SAFEOP", "OP"]
+        try :
+            # parse the execution result of  "ethercat slaves" command
+            # Result example : 0  0:0  PREOP  +  EL9800 (V4.30) (PIC24, SPI, ET1100)
+            token = line.split("  ")
+            if token[2] in state_array:
+                self.TextCtrlDic["CurrentState"].SetValue(token[2])           
+        except :
+            pass     
+        
+    def StartTimer(self, event):
+        """
+        Event handler for "Start State Monitoring" button.
+          - start slave state monitoring thread
+        @param event : wx.EVT_BUTTON object
+        """
+        self.SlaveStateThread = wx.Timer(self)
+        # set timer period (1000 ms)
+        self.SlaveStateThread.Start(1000)
+        
+    def CurrentStateThreadStop(self, event):
+        """
+        Event handler for "Stop State Monitoring" button.
+          - stop slave state monitoring thread
+        @param event : wx.EVT_BUTTON object
+        """
+        try:
+            self.SlaveStateThread.Stop()
+        except:
+            pass
+        
+#-------------------------------------------------------------------------------
+#                    For SDO Management Panel
+#-------------------------------------------------------------------------------  
+class SDOPanelClass(wx.Panel):
+    def __init__(self, parent, controler):
+        """
+        Constructor
+        @param parent: Reference to the parent EtherCATManagementTreebook class
+        @param controler: _EthercatSlaveCTN class in EthercatSlave.py
+        """
+        wx.Panel.__init__(self, parent, -1)
+        
+        self.DatatypeDescription, self.CommunicationObject, self.ManufacturerSpecific, \
+        self.ProfileSpecific, self.Reserved, self.AllSDOData = range(6)
+        
+        self.Controler = controler
+        
+        self.SDOManagementMainSizer = wx.BoxSizer(wx.VERTICAL)
+        self.SDOManagementInnerMainSizer = wx.FlexGridSizer(cols=1, hgap=10, rows=2, vgap=10)
+             
+        self.SDOUpdate = wx.Button(self, label=_('update'))          
+        self.SDOUpdate.Bind(wx.EVT_BUTTON, self.SDOInfoUpdate)
+        
+        self.CallSDONoteBook = SDONoteBook(self, controler=self.Controler)
+        self.SDOManagementInnerMainSizer.Add(self.SDOUpdate)
+        self.SDOManagementInnerMainSizer.Add(self.CallSDONoteBook, wx.ALL | wx.EXPAND)           
+
+        self.SDOManagementMainSizer.Add(self.SDOManagementInnerMainSizer)
+        
+        self.SetSizer(self.SDOManagementMainSizer)
+        
+    def SDOInfoUpdate(self, event):
+        """
+        Evenet handler for SDO "update" button.
+          - Load SDO data from current slave 
+        @param event : wx.EVT_BUTTON object
+        """     
+        self.Controler.CommonMethod.SaveSDOData = []
+        self.Controler.CommonMethod.ClearSDODataSet()
+        self.SDOFlag = False
+        
+        # Check whether beremiz connected or not.
+        check_connect_flag = self.Controler.CommonMethod.CheckConnect(False)
+        if check_connect_flag:
+            self.SDOs = self.Controler.CommonMethod.GetSlaveSDOFromSlave()
+            # SDOFlag is "False", user click "Cancel" button
+            self.SDOFlag = self.SDOParser() 
+
+            if self.SDOFlag :
+                self.CallSDONoteBook.CreateNoteBook()      
+                self.Refresh()
+    
+    def SDOParser(self):  
+        """
+        Parse SDO data set that obtain "SDOInfoUpdate" Method
+        @return True or False 
+        """       
+
+        slaveSDO_progress = wx.ProgressDialog("Slave SDO Monitoring", "Now Uploading...",
+                               maximum = len(self.SDOs.splitlines()), parent=self,
+                               style = wx.PD_CAN_ABORT | wx.PD_APP_MODAL | wx.PD_ELAPSED_TIME | 
+                                       wx.PD_ESTIMATED_TIME | wx.PD_REMAINING_TIME | 
+                                       wx.PD_AUTO_HIDE | wx.PD_SMOOTH)        
+        
+        # If keep_going flag is False, SDOParser method is stop and return "False".
+        keep_going = True
+        count = 0
+             
+        # SDO data example 
+        # SDO 0x1000, "Device type"
+        # 0x1000:00,r-r-r-,uint32,32 bit,"Device type",0x00020192, 131474
+        for details_line in self.SDOs.splitlines():
+            count += 1
+            line_token = details_line.split("\"")
+            # len(line_token[2]) case : SDO 0x1000, "Device type"
+            if len(line_token[2]) == 0:
+                title_name = line_token[1]
+            # else case : 0x1000:00,r-r-r-,uint32,32 bit,"Device type",0x00020192, 131474
+            else :
+                # line_token = ['0x1000:00,r-r-r-,uint32,32 bit,', 'Device type', ',0x00020192, 131474']
+                token_head, name, token_tail = line_token
+                
+                # token_head = ['0x1000:00', 'r-r-r-', 'uint32', '32 bit', '']
+                token_head = token_head.split(",")
+                ful_idx, access, type, size, empty = token_head
+                # ful_idx.split(":") = ['0x1000', '00']
+                idx, sub_idx = ful_idx.split(":")
+                
+                # token_tail = ['', '0x00020192', '131474']
+                token_tail = token_tail.split(",")
+                try :
+                    empty, hex_val, dec_val = token_tail
+                    
+                # SDO data is not return "dec value"
+                # line example : 
+                # 0x1702:01,rwr-r-,uint32,32 bit," 1st mapping", ---- 
+                except :
+                    empty, hex_val = token_tail
+                
+                name_after_check = self.StringTest(name)
+                
+                # convert hex type
+                sub_idx = "0x" + sub_idx
+
+                if type == "octet_string":
+                    hex_val = ' ---- '
+            
+                # SResult of SlaveSDO data parsing. (data type : dictionary)
+                self.Data = {'idx':idx.strip(), 'subIdx':sub_idx.strip(), 'access':access.strip(), 
+                             'type':type.strip(), 'size':size.strip(),  'name':name_after_check.strip("\""), 
+                             'value':hex_val.strip(), "category":title_name.strip("\"")}
+                
+                category_divide_value = [0x1000, 0x2000, 0x6000, 0xa000, 0xffff]
+
+                for count in range(len(category_divide_value)) :
+                    if int(idx, 0) < category_divide_value[count]:
+                        self.Controler.CommonMethod.SaveSDOData[count].append(self.Data)
+                        break
+                
+                self.Controler.CommonMethod.SaveSDOData[self.AllSDOData].append(self.Data)
+                      
+            if count >= len(self.SDOs.splitlines()) / 2:
+                (keep_going, skip) = slaveSDO_progress.Update(count, "Please waiting a moment!!")
+            else:
+                (keep_going, skip) = slaveSDO_progress.Update(count)
+                
+            # If user click "Cancel" loop suspend immediately 
+            if (keep_going == False):
+                break
+            
+        slaveSDO_progress.Destroy()      
+        return keep_going  
+
+    def StringTest(self, check_string):
+        """
+        Test value 'name' is alphanumeric  
+        @param check_string : input data for check 
+        @return result : output data after check
+        """  
+        # string.printable is print this result
+        #'0123456789abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ
+        #!"#$%&\'()*+,-./:;<=>?@[\\]^_`{|}~ \t\n\r\x0b\x0c
+        allow_range = string.printable
+        result = check_string
+        for i in range(0, len(check_string)):
+            # string.isalnum() is check whether string is alphanumeric or not
+            if check_string[len(check_string)-1-i:len(check_string)-i] in allow_range :
+                result = check_string[:len(check_string) - i]
+                break
+        return result
+    
+    
+#-------------------------------------------------------------------------------
+#                    For SDO Notebook (divide category)
+#-------------------------------------------------------------------------------  
+class SDONoteBook(wx.Notebook):
+    def __init__(self, parent, controler):
+        """
+        Constructor
+        @param parent: Reference to the parent SDOPanelClass class
+        @param controler: _EthercatSlaveCTN class in EthercatSlave.py
+        """
+        wx.Notebook.__init__(self, parent, id = -1, size=(850,500))      
+        self.Controler = controler
+        self.parent = parent
+        
+        self.CreateNoteBook()
+        
+        self.Bind(wx.EVT_CHOICEBOOK_PAGE_CHANGED, self.OnPageChanged)
+        self.Bind(wx.EVT_CHOICEBOOK_PAGE_CHANGING, self.OnPageChanging)
+        
+    def CreateNoteBook(self): 
+        """
+        Create each NoteBook page, divided SDO index
+        According to EtherCAT Communication(03/2011), 158p
+        """   
+        self.Data = []
+        count = 1
+        
+        page_texts = [("all", self.parent.AllSDOData),
+                     ("0x0000 - 0x0ff", self.parent.DatatypeDescription),
+                     ("0x1000 - 0x1fff", self.parent.CommunicationObject),
+                     ("0x2000 - 0x5fff", self.parent.ManufacturerSpecific),
+                     ("0x6000 - 0x9fff", self.parent.ProfileSpecific),
+                     ("0xa000 - 0xffff", self.parent.Reserved)]
+
+        page_tooltip_string = ["SDO Index 0x0000 - 0x0fff : Data Type Description",
+                               "SDO Index 0x1000 - 0x1fff : Communication object",
+                               "SDO Index 0x2000 - 0x5fff : Manufacturer specific",
+                               "SDO Index 0x6000 - 0x9fff : Profile specific",
+                               "SDO Index 0xa000 - 0xffff : Reserved",
+                               "All SDO Object"]
+
+        self.DeleteAllPages()
+        
+        for txt, count in page_texts:
+            self.Data = self.Controler.CommonMethod.SaveSDOData[count]
+            self.Win = SlaveSDOTable(self, self.Data) 
+            self.AddPage(self.Win, txt)
+        
+    def OnPageChanged(self, event):
+        old = event.GetOldSelection()
+        new = event.GetSelection()
+        sel = self.GetSelection()
+        event.Skip()
+
+    def OnPageChanging(self, event):
+        old = event.GetOldSelection()
+        new = event.GetSelection()
+        sel = self.GetSelection()
+        event.Skip()
+
+#-------------------------------------------------------------------------------
+#                    For SDO Grid (fill index, subindex, etc...)
+#-------------------------------------------------------------------------------  
+class SlaveSDOTable(wx.grid.Grid):  
+    def __init__(self, parent, data):
+        """
+        Constructor
+        @param parent: Reference to the parent SDOPanelClass class
+        @param data: SDO data after parsing "SDOParser" method
+        """
+        wx.grid.Grid.__init__(self, parent, -1, size=(830,490), 
+                              style=wx.EXPAND|wx.ALIGN_CENTRE_HORIZONTAL|wx.ALIGN_CENTER_VERTICAL)
+        
+        self.Controler = parent.Controler
+        self.parent = parent
+        self.SDOFlag = True
+        if data is None :
+            self.SDOs = []
+        else :
+            self.SDOs = data
+        
+        self.CreateGrid(len(self.SDOs), 8)
+        SDOCellSize = [(0, 65), (1, 65), (2, 50), (3, 55), 
+                         (4, 40), (5, 200), (6, 250), (7, 85)]
+        
+        for (index, size) in SDOCellSize:
+            self.SetColSize(index, size)
+        
+        self.SetRowLabelSize(0)
+        
+        SDOTableLabel = [(0, "Index"), (1, "Subindex"), (2, "Access"),
+                         (3, "Type"), (4, "Size"), (5, "Category"),
+                         (6, "Name"), (7, "Value")]
+        
+        for (index, label) in SDOTableLabel:
+            self.SetColLabelValue(index, label)
+            self.SetColLabelAlignment(index, wx.ALIGN_CENTRE)
+            
+        attr = wx.grid.GridCellAttr()
+
+        # for SDO download 
+        self.Bind(gridlib.EVT_GRID_CELL_LEFT_DCLICK, self.SDOModifyDialog)
+        
+        for i in range(7): 
+            self.SetColAttr(i,attr)                   
+        
+        self.SetColLabelAlignment(wx.ALIGN_CENTER, wx.ALIGN_CENTER)
+            
+        self.SetTableValue()  
+             
+    def SetTableValue(self):
+        """
+        Cell is filled by new parsing data
+        """
+        sdo_list = ['idx', 'subIdx', 'access', 'type', 'size', 'category', 'name', 'value']
+        for row_idx in range(len(self.SDOs)):
+            for col_idx in range(len(self.SDOs[row_idx])):          
+                self.SetCellValue(row_idx, col_idx, self.SDOs[row_idx][sdo_list[col_idx]])
+                self.SetReadOnly(row_idx, col_idx, True)
+                if col_idx < 5 :
+                    self.SetCellAlignment(row_idx, col_idx, wx.ALIGN_CENTRE, wx.ALIGN_CENTRE)
+        
+    def CheckSDODataAccess(self, row):
+        """
+        CheckSDODataAccess method is checking that access data has "w"
+        Access field consist 6 char, if mean
+           rw      rw     rw
+        (preop) (safeop) (op) 
+        Example Access field : rwrwrw, rwrw-- 
+        @param row : Selected cell by user
+        @return Write_flag : If data has "w", flag is true
+        """
+        write_flag = False
+        check = self.SDOs[row]['access']
+        if check[1:2] == 'w' :
+            self.Controler.CommonMethod.Check_PREOP = True
+            write_flag = True
+        if check[3:4] == 'w' : 
+            self.Controler.CommonMethod.Check_SAFEOP = True
+            write_flag = True
+        if check[5:] =='w' :
+            self.Controler.CommonMethod.Check_OP = True
+            write_flag = True
+            
+        return write_flag
+    
+    def DecideSDODownload(self, state):
+        """
+        compare current state and "access" field, 
+        result notify SDOModifyDialog method
+        @param state : current slave state
+        @return True or False
+        """
+        # Example of 'state' parameter : "0  0:0  PREOP  +  EL9800 (V4.30) (PIC24, SPI, ET1100)" 
+        state = state[self.Controler.GetSlavePos()].split("  ")[2]
+        if state == "PREOP" and self.Controler.CommonMethod.Check_PREOP :
+            return True
+        elif state == "SAFEOP" and self.Controler.CommonMethod.Check_SAFEOP :
+            return True
+        elif state == "OP" and self.Controler.CommonMethod.Check_OP :
+            return True
+        
+        return False
+    
+    def ClearStateFlag(self):
+        """
+        Initialize StateFlag
+        StateFlag is notice SDOData access each slave state
+        """
+        self.Controler.CommonMethod.Check_PREOP = False
+        self.Controler.CommonMethod.Check_SAFEOP = False
+        self.Controler.CommonMethod.Check_OP = False
+    
+    def SDOModifyDialog (self, event):
+        """
+        Create dialog for SDO value modify
+        if user enter data, perform command "ethercat download"  
+        @param event : gridlib.EVT_GRID_CELL_LEFT_DCLICK object
+        """
+        self.ClearStateFlag()
+        
+        # CheckSDODataAccess is checking that OD(Object Dictionary) has "w" 
+        if event.GetCol() == 7 and self.CheckSDODataAccess(event.GetRow()) :    
+            dlg = wx.TextEntryDialog (self, "Enter hex or dec value (if enter dec value, it automatically conversed hex value)",
+                                      "SDOModifyDialog", style = wx.OK | wx.CANCEL)
+
+            start_value = self.GetCellValue(event.GetRow(), event.GetCol()) 
+            dlg.SetValue(start_value)
+            
+            if dlg.ShowModal() == wx.ID_OK:
+                try :
+                    int(dlg.GetValue(), 0)
+                    # check "Access" field
+                    if self.DecideSDODownload(self.Controler.CommonMethod.SlaveState[self.Controler.GetSlavePos()]) :
+                        # Request "SDODownload"
+                        self.Controler.CommonMethod.SDODownload(self.SDOs[event.GetRow()]['type'], self.SDOs[event.GetRow()]['idx'], 
+                                                   self.SDOs[event.GetRow()]['subIdx'], dlg.GetValue())
+                        self.SetCellValue(event.GetRow(), event.GetCol(), hex(int(dlg.GetValue(), 0)))
+                    else :
+                        self.Controler.CommonMethod.CreateErrorDialog('You cannot SDO download this state')                  
+                # Error occured process of "int(variable)"
+                # User input is not hex, dec value
+                except ValueError:
+                    self.Controler.CommonMethod.CreateErrorDialog('You can input only hex, dec value')    
+
+
+#-------------------------------------------------------------------------------
+#                 For PDO Monitoring Panel
+# PDO Class UI  : Panel -> Choicebook (RxPDO, TxPDO) -> 
+#                 Notebook (PDO Index) -> Grid (PDO entry)
+#-------------------------------------------------------------------------------  
+class PDOPanelClass(wx.Panel):
+    def __init__(self, parent, controler):
+        """
+        Constructor
+        @param parent: Reference to the parent EtherCATManagementTreebook class
+        @param controler: _EthercatSlaveCTN class in EthercatSlave.py
+        """
+        wx.Panel.__init__(self, parent, -1)
+        self.Controler = controler
+
+        self.PDOMonitoringEditorMainSizer = wx.BoxSizer(wx.VERTICAL)
+        self.PDOMonitoringEditorInnerMainSizer = wx.FlexGridSizer(cols=1, hgap=10, rows=2, vgap=10)
+        
+        self.CallPDOChoicebook = PDOChoicebook(self, controler=self.Controler)   
+        self.PDOMonitoringEditorInnerMainSizer.Add(self.CallPDOChoicebook, wx.ALL)    
+        
+        self.PDOMonitoringEditorMainSizer.Add(self.PDOMonitoringEditorInnerMainSizer)
+        
+        self.SetSizer(self.PDOMonitoringEditorMainSizer)
+
+    def PDOInfoUpdate(self):
+        """
+        Call RequestPDOInfo method and create Choicebook
+        """
+        self.Controler.CommonMethod.RequestPDOInfo()
+        self.CallPDOChoicebook.Destroy()
+        self.CallPDOChoicebook = PDOChoicebook(self, controler=self.Controler)
+        self.Refresh()
+
+
+#-------------------------------------------------------------------------------
+#                    For PDO Choicebook (divide Tx, Rx PDO)
+#-------------------------------------------------------------------------------  
+class PDOChoicebook(wx.Choicebook):
+    def __init__(self, parent, controler):
+        """
+        Constructor
+        @param parent: Reference to the parent PDOPanelClass class
+        @param controler: _EthercatSlaveCTN class in EthercatSlave.py
+        """
+        wx.Choicebook.__init__(self, parent, id=-1, size=(500, 500), style=wx.CHB_DEFAULT)
+        self.Controler = controler
+        
+        RxWin = PDONoteBook(self, controler=self.Controler, name="Rx")
+        TxWin = PDONoteBook(self, controler=self.Controler, name="Tx")
+        self.AddPage(RxWin, "RxPDO")
+        self.AddPage(TxWin, "TxPDO")
+        
+        self.Bind(wx.EVT_CHOICEBOOK_PAGE_CHANGED, self.OnPageChanged)
+        self.Bind(wx.EVT_CHOICEBOOK_PAGE_CHANGING, self.OnPageChanging)
+        
+    def OnPageChanged(self, event):
+        old = event.GetOldSelection()
+        new = event.GetSelection()
+        sel = self.GetSelection()
+        event.Skip()
+
+    def OnPageChanging(self, event):
+        old = event.GetOldSelection()
+        new = event.GetSelection()
+        sel = self.GetSelection()
+        event.Skip()     
+
+
+#-------------------------------------------------------------------------------
+#                    For PDO Notebook (divide PDO index)
+#-------------------------------------------------------------------------------  
+class PDONoteBook(wx.Notebook):
+    def __init__(self, parent, name, controler):
+        """
+        Constructor
+        @param parent: Reference to the parent PDOChoicebook class
+        @param name: identifier whether RxPDO or TxPDO
+        @param controler: _EthercatSlaveCTN class in EthercatSlave.py
+        """
+        wx.Notebook.__init__(self, parent, id=-1, size=(640, 400))
+        self.Controler = controler
+        
+        count = 0
+        page_texts = []
+        
+        self.Controler.CommonMethod.RequestPDOInfo()
+        
+        if name == "Tx" :
+            # obtain pdo_info and pdo_entry
+            # pdo_info include (PDO index, name, number of entry)
+            pdo_info =  self.Controler.CommonMethod.GetTxPDOCategory()
+            pdo_entry = self.Controler.CommonMethod.GetTxPDOInfo()
+            for tmp in pdo_info :
+                title = str(hex(tmp['pdo_index']))
+                page_texts.append(title)
+        # RX PDO case
+        else :  
+            pdo_info = self.Controler.CommonMethod.GetRxPDOCategory()
+            pdo_entry = self.Controler.CommonMethod.GetRxPDOInfo()
+            for tmp in pdo_info :
+                title = str(hex(tmp['pdo_index']))
+                page_texts.append(title)
+               
+        # Add page depending on the number of pdo_info
+        for txt in page_texts:
+            win = PDOEntryTable(self, pdo_info, pdo_entry, count)
+            self.AddPage(win, txt)
+            count += 1  
+
+        self.Bind(wx.EVT_CHOICEBOOK_PAGE_CHANGED, self.OnPageChanged)
+        self.Bind(wx.EVT_CHOICEBOOK_PAGE_CHANGING, self.OnPageChanging)
+        
+    def OnPageChanged(self, event):
+        old = event.GetOldSelection()
+        new = event.GetSelection()
+        sel = self.GetSelection()
+        event.Skip()
+
+    def OnPageChanging(self, event):
+        old = event.GetOldSelection()
+        new = event.GetSelection()
+        sel = self.GetSelection()
+        event.Skip()     
+
+
+#-------------------------------------------------------------------------------
+#                    For PDO Grid (fill entry index, subindex etc...)
+#-------------------------------------------------------------------------------  
+class PDOEntryTable(wx.grid.Grid):
+    def __init__(self, parent, info, entry, count):
+        """
+        Constructor
+        @param parent: Reference to the parent PDONoteBook class
+        @param info : data structure including entry index, sub index, name, length, type
+        @param entry : data structure including index, name, entry number
+        @param count : page number
+        """
+        wx.grid.Grid.__init__(self, parent, -1, size=(500, 400), pos=wx.Point(0,0), 
+                              style=wx.EXPAND|wx.ALIGN_CENTRE_HORIZONTAL|wx.ALIGN_CENTER_VERTICAL)
+        
+        self.Controler = parent.Controler
+        
+        self.PDOInfo = info
+        self.PDOEntry = entry
+        self.Count = count
+        
+        self.CreateGrid(self.PDOInfo[self.Count]['number_of_entry'], 5)
+        self.SetColLabelSize(25)   
+        self.SetRowLabelSize(0)
+        
+        PDOTableLabel = [(0, "Index"), (1, "Subindex"), (2, "Length"),
+                         (3, "Type"), (4, "Name")]
+        
+        for (index, label) in PDOTableLabel:
+            self.SetColLabelValue(index, label)
+        
+        PDOCellSize = [(0, 45), (1, 65), (2, 55), (3, 40), (4, 300)]
+        
+        for (index, size) in PDOCellSize:
+            self.SetColSize(index, size)
+            self.SetColLabelAlignment(index, wx.ALIGN_LEFT)
+        
+        attr = wx.grid.GridCellAttr()
+        
+        for i in range(5):
+            self.SetColAttr(i, attr)
+         
+        self.SetTableValue()
+            
+    def SetTableValue(self):
+        """
+        Cell is filled by new parsing data in XML
+        """
+        list_index = 0
+        # number of entry
+        for i in range(self.Count + 1) :
+            list_index += self.PDOInfo[i]['number_of_entry']
+
+        start_value = list_index - self.PDOInfo[self.Count]['number_of_entry']
+        
+        pdo_list = ['entry_index', 'subindex', 'bitlen', 'type', 'name']
+        for row_idx in range(self.PDOInfo[self.Count]['number_of_entry']):
+            for col_idx in range(len(self.PDOEntry[row_idx])):
+                # entry index is converted hex value.
+                if col_idx == 0 :
+                    self.SetCellValue(row_idx, col_idx, hex(self.PDOEntry[start_value][pdo_list[col_idx]]))
+                else :
+                    self.SetCellValue(row_idx, col_idx, str(self.PDOEntry[start_value][pdo_list[col_idx]]))
+                if col_idx != 4 :
+                    self.SetCellAlignment(row_idx, col_idx, wx.ALIGN_CENTRE, wx.ALIGN_CENTRE)
+                else :
+                    self.SetCellAlignment(row_idx, col_idx, wx.ALIGN_LEFT, wx.ALIGN_CENTRE)
+                self.SetReadOnly(row_idx, col_idx, True)
+                self.SetRowSize(row_idx, 25)
+            start_value += 1
+
+
+#-------------------------------------------------------------------------------
+#                    For EEPROM Access Main Panel 
+#                 (This class explain EEPROM Access)
+#-------------------------------------------------------------------------------  
+class EEPROMAccessPanel(wx.Panel):
+    def __init__(self, parent, controler):
+        """
+        Constructor
+        @param parent: Reference to the parent EtherCATManagementTreebook class
+        @param controler: _EthercatSlaveCTN class in EthercatSlave.py
+        """
+        wx.Panel.__init__(self, parent, -1)
+        sizer = wx.FlexGridSizer(cols=1, hgap=20,rows=3, vgap=20)
+        
+        line = wx.StaticText(self, -1, "\n  EEPROM Access is composed to SmartView and HexView. \
+                                              \n\n   - SmartView shows Config Data, Device Identity, Mailbox settings, etc. \
+                                              \n\n   - HexView shows EEPROM's contents.")
+        
+        sizer.Add(line)
+        
+        self.SetSizer(sizer)
+
+
+#-------------------------------------------------------------------------------
+#                    For Smart View Panel 
+#-------------------------------------------------------------------------------  
+class SlaveSiiSmartView(wx.Panel):
+    def __init__(self, parent, controler):
+        """
+        Constructor
+        @param parent: Reference to the parent EtherCATManagementTreebook class
+        @param controler: _EthercatSlaveCTN class in EthercatSlave.py
+        """
+        wx.Panel.__init__(self, parent, -1)
+        self.parent = parent
+        self.Controler = controler
+        
+        self.PDIType = {0  :['none', '00000000'], 
+                        4  :['Digital I/O', '00000100'],
+                        5  :['SPI Slave', '00000101'],
+                        7  :['EtherCAT Bridge (port3)', '00000111'],
+                        8  :['uC async. 16bit', '00001000'],
+                        9  :['uC async. 8bit', '00001001'],
+                        10 :['uC sync. 16bit', '00001010'],
+                        11 :['uC sync. 8bit', '00001011'],
+                        16 :['32 Digtal Input and 0 Digital Output', '00010000'],
+                        17 :['24 Digtal Input and 8 Digital Output', '00010001'],
+                        18 :['16 Digtal Input and 16 Digital Output','00010010'],
+                        19 :['8 Digtal Input and 24 Digital Output', '00010011'],
+                        20 :['0 Digtal Input and 32 Digital Output', '00010100'],
+                        128:['On-chip bus', '11111111']
+                        }
+        
+        sizer = wx.FlexGridSizer(cols=1, hgap=5, rows=2, vgap=5)
+        button_sizer = wx.FlexGridSizer(cols=2, hgap=5, rows=1, vgap=5)
+
+        for button, mapping_method in [("Write EEPROM", self.WriteToEEPROM),
+                                       ("Read EEPROM", self.ReadFromEEPROM)]:
+            btn = wx.Button(self, -1, button, size=(150, 40))
+            button_sizer.Add(btn, border=10, flag=wx.ALL)
+            btn.Bind(wx.EVT_BUTTON, mapping_method)
+        
+        self.TreeListCtrl = SmartViewTreeListCtrl(self, self.Controler)
+        
+        sizer.Add(button_sizer, border=10, flag=wx.ALL)
+        sizer.Add(self.TreeListCtrl, border=10, flag=wx.ALL)
+        self.SetSizer(sizer)
+        
+        self.Create_SmartView()
+        
+    def Create_SmartView(self):
+        """
+        SmartView shows information based on XML as initial value.
+        """  
+        self.Controler.CommonMethod.SmartViewInfosFromXML = self.Controler.CommonMethod.GetSmartViewInfos()
+        self.SetXMLData()
+                
+    def WriteToEEPROM(self, event):
+        """
+        Open binary file (user select) and write the selected binary data to EEPROM
+        @param event : wx.EVT_BUTTON object
+        """  
+        # Check whether beremiz connected or not, and whether status is "Started" or not.
+        check_connect_flag = self.Controler.CommonMethod.CheckConnect(False)
+        if check_connect_flag:
+            status, count = self.Controler.GetCTRoot()._connector.GetPLCstatus()
+            if status is not "Started":
+                dialog = wx.FileDialog(self, _("Choose a binary file"), os.getcwd(), "",  _("bin files (*.bin)|*.bin"), wx.OPEN)
+                
+                if dialog.ShowModal() == wx.ID_OK:
+                    filepath = dialog.GetPath()
+                    try:
+                        binfile = open(filepath,"rb")
+                        self.SiiBinary = binfile.read()
+                        dialog.Destroy()
+                        
+                        self.Controler.CommonMethod.SiiWrite(self.SiiBinary)
+                        # refresh data structure kept by master
+                        self.Controler.CommonMethod.Rescan()
+                        # save binary data as inner global data of beremiz 
+                        # for fast loading when slave plugin node is reopened.
+                        self.Controler.CommonMethod.SiiData = self.SiiBinary
+                        self.SetEEPROMData()
+                    except:
+                        self.Controler.CommonMethod.CreateErrorDialog('The file does not exist!')
+                        dialog.Destroy()
+    
+    def ReadFromEEPROM(self, event):
+        """
+        Refresh displayed data based on slave EEPROM and save binary file through dialog
+        @param event : wx.EVT_BUTTON object
+        """  
+        # Check whether beremiz connected or not.
+        check_connect_flag = self.Controler.CommonMethod.CheckConnect(False)
+        if check_connect_flag:
+            self.SiiBinary = self.Controler.CommonMethod.LoadData()
+            self.SetEEPROMData()
+            dialog = wx.FileDialog(self, _("Save as..."), os.getcwd(), 
+                                   "slave0.bin",  _("bin files (*.bin)|*.bin|All files|*.*"), 
+                                   wx.SAVE|wx.OVERWRITE_PROMPT)
+        
+            if dialog.ShowModal() == wx.ID_OK:
+                filepath = dialog.GetPath()
+                binfile = open(filepath,"wb")
+                binfile.write(self.SiiBinary)
+                binfile.close()
+    
+            dialog.Destroy()
+    
+    def SetXMLData(self):
+        """
+        Set data based on XML initially
+        """  
+        # Config Data: EEPROM Size, PDI Type, Device Emulation
+        # Find PDI Type in pdiType dictionary
+        cnt_pdi_type = self.Controler.CommonMethod.SmartViewInfosFromXML["pdi_type"]
+        for i in self.PDIType.keys():
+            if cnt_pdi_type == i:
+                cnt_pdi_type = self.PDIType[i][0]
+                break
+        #  Set Config Data
+        for treelist, data in [("EEPROM Size (Bytes)", 
+                                str(self.Controler.CommonMethod.SmartViewInfosFromXML["eeprom_size"])),
+                               ("PDI Type", 
+                                cnt_pdi_type),
+                               ("Device Emulation", 
+                                self.Controler.CommonMethod.SmartViewInfosFromXML["device_emulation"])]:
+            self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.ConfigData[treelist], data, 1)
+        
+        # Device Identity: Vendor ID, Product Code, Revision No., Serial No.
+        #  Set Device Identity
+        for treelist, data in [("Vendor ID", self.Controler.CommonMethod.SmartViewInfosFromXML["vendor_id"]),
+                               ("Product Code", self.Controler.CommonMethod.SmartViewInfosFromXML["product_code"]),
+                               ("Revision No.", self.Controler.CommonMethod.SmartViewInfosFromXML["revision_no"]),
+                               ("Serial No.", self.Controler.CommonMethod.SmartViewInfosFromXML["serial_no"])]:
+            self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.DeviceIdentity[treelist], data, 1)
+             
+        # Mailbox: Supported Mailbox, Bootstrap Configuration, Standard Configuration
+        #  Set Mailbox
+        for treelist, data in [("Supported Mailbox", self.Controler.CommonMethod.SmartViewInfosFromXML["supported_mailbox"]),
+                               ("Bootstrap Configuration", ""),
+                               ("Standard Configuration", "")]:
+            self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.Mailbox[treelist], data, 1)       
+        #  Set Bootstrap Configuration: Receive Offset, Receive Size, Send Offset, Send Size
+        for treelist, data in [("Receive Offset", self.Controler.CommonMethod.SmartViewInfosFromXML["mailbox_bootstrapconf_outstart"]),
+                               ("Receive Size", self.Controler.CommonMethod.SmartViewInfosFromXML["mailbox_bootstrapconf_outlength"]),
+                               ("Send Offset", self.Controler.CommonMethod.SmartViewInfosFromXML["mailbox_bootstrapconf_instart"]),
+                               ("Send Size", self.Controler.CommonMethod.SmartViewInfosFromXML["mailbox_bootstrapconf_inlength"])]:
+            self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.BootstrapConfig[treelist], data, 1)      
+        #  Set Standard Configuration: Receive Offset, Receive Size, Send Offset, Send Size
+        for treelist, data in [("Receive Offset", self.Controler.CommonMethod.SmartViewInfosFromXML["mailbox_standardconf_outstart"]),
+                               ("Receive Size", self.Controler.CommonMethod.SmartViewInfosFromXML["mailbox_standardconf_outlength"]),
+                               ("Send Offset", self.Controler.CommonMethod.SmartViewInfosFromXML["mailbox_standardconf_instart"]),
+                               ("Send Size", self.Controler.CommonMethod.SmartViewInfosFromXML["mailbox_standardconf_inlength"])]:
+            self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.StandardConfig[treelist], data, 1)
+        
+    def SetEEPROMData(self):
+        """
+        Set data based on slave EEPROM.
+        """  
+        # sii_dict = { Parameter : (WordAddress, WordSize) }
+        sii_dict= { 'PDIControl' :                          ( '0', 1),
+                    'PDIConfiguration' :                    ( '1', 1),
+                    'PulseLengthOfSYNCSignals' :            ( '2', 1),
+                    'ExtendedPDIConfiguration' :            ( '3', 1),
+                    'ConfiguredStationAlias' :              ( '4', 1),
+                    'Checksum' :                            ( '7', 1),
+                    'VendorID' :                            ( '8', 2),
+                    'ProductCode' :                         ( 'a', 2),
+                    'RevisionNumber' :                      ( 'c', 2),
+                    'SerialNumber' :                        ( 'e', 2),
+                    'Execution Delay' :                     ('10', 1),
+                    'Port0Delay' :                          ('11', 1),
+                    'Port1Delay' :                          ('12', 1),
+                    'BootstrapReceiveMailboxOffset' :       ('14', 1),
+                    'BootstrapReceiveMailboxSize' :         ('15', 1),
+                    'BootstrapSendMailboxOffset' :          ('16', 1),
+                    'BootstrapSendMailboxSize' :            ('17', 1),
+                    'StandardReceiveMailboxOffset' :        ('18', 1),
+                    'StandardReceiveMailboxSize' :          ('19', 1),
+                    'StandardSendMailboxOffset' :           ('1a', 1),
+                    'StandardSendMailboxSize' :             ('1b', 1),
+                    'MailboxProtocol' :                     ('1c', 1),
+                    'Size' :                                ('3e', 1),
+                    'Version' :                             ('3f', 1),
+                    'First Category Type/Vendor Specific' : ('40', 1),
+                    'Following Category Word Size' :        ('41', 1),
+                    'Category Data' :                       ('42', 1),
+                }
+        
+        # Config Data: EEPROM Size, PDI Type, Device Emulation
+        # EEPROM's data in address '0x003f' is Size of EEPROM in KBit-1
+        eeprom_size = str((int(self.GetWordAddressData( sii_dict.get('Size'),10 ))+1)/8*1024)
+        # Find PDI Type in pdiType dictionary
+        cnt_pdi_type = int(self.GetWordAddressData( sii_dict.get('PDIControl'),16 ).split('x')[1][2:4], 16)
+        for i in self.PDIType.keys():
+            if cnt_pdi_type == i:
+                cnt_pdi_type = self.PDIType[i][0]
+                break
+        #  Get Device Emulation
+        device_emulation = str(bool(int("{:0>16b}".format(int(self.GetWordAddressData( sii_dict.get('PDIControl'),16 ), 16))[7])))    
+        #  Set Config Data
+        for treelist, data in [("EEPROM Size (Bytes)", eeprom_size),
+                               ("PDI Type", cnt_pdi_type),
+                               ("Device Emulation", device_emulation)]:
+            self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.ConfigData[treelist], data, 1)
+        
+        # Device Identity: Vendor ID, Product Code, Revision No., Serial No.
+        #  Set Device Identity
+        for treelist, data in [("Vendor ID", self.GetWordAddressData( sii_dict.get('VendorID'),16 )),
+                               ("Product Code", self.GetWordAddressData( sii_dict.get('ProductCode'),16 )),
+                               ("Revision No.", self.GetWordAddressData( sii_dict.get('RevisionNumber'),16 )),
+                               ("Serial No.", self.GetWordAddressData( sii_dict.get('SerialNumber'),16 ))]:
+            self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.DeviceIdentity[treelist], data, 1)
+      
+        # Mailbox
+        # EEORPOM's word address '1c' indicates supported mailbox protocol.
+        # each value of mailbox protocol : 
+        # VoE(0x0020), SoE(0x0010), FoE(0x0008), CoE(0x0004), EoE(0x0002), AoE(0x0001)
+        supported_mailbox = ""
+        mailbox_protocol=["VoE,  ", "SoE,  ", "FoE,  ", "CoE,  ", "EoE,  ", "AoE,  "]
+        mailbox_data = "{:0>8b}".format(int(self.GetWordAddressData( sii_dict.get('MailboxProtocol'),16 ), 16))
+        for protocol in range(6):
+            if mailbox_data[protocol+2] == '1':
+                supported_mailbox += mailbox_protocol[protocol]
+        supported_mailbox = supported_mailbox.strip(",  ")
+        #  Set Mailbox
+        for treelist, data in [("Supported Mailbox", supported_mailbox),
+                               ("Bootstrap Configuration", ""),
+                               ("Standard Configuration", "")]:
+            self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.Mailbox[treelist], data, 1)       
+        #  Set Bootstrap Configuration: Receive Offset, Receive Size, Send Offset, Send Size
+        for treelist, data in [("Receive Offset", self.GetWordAddressData( sii_dict.get('BootstrapReceiveMailboxOffset'),10 )),
+                               ("Receive Size", self.GetWordAddressData( sii_dict.get('BootstrapReceiveMailboxSize'),10 )),
+                               ("Send Offset", self.GetWordAddressData( sii_dict.get('BootstrapSendMailboxOffset'),10 )),
+                               ("Send Size", self.GetWordAddressData( sii_dict.get('BootstrapSendMailboxSize'),10 ))]:
+            self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.BootstrapConfig[treelist], data, 1)      
+        #  Set Standard Configuration: Receive Offset, Receive Size, Send Offset, Send Size
+        for treelist, data in [("Receive Offset", self.GetWordAddressData( sii_dict.get('StandardReceiveMailboxOffset'),10 )),
+                               ("Receive Size", self.GetWordAddressData( sii_dict.get('StandardReceiveMailboxSize'),10 )),
+                               ("Send Offset", self.GetWordAddressData( sii_dict.get('StandardSendMailboxOffset'),10 )),
+                               ("Send Size", self.GetWordAddressData( sii_dict.get('StandardSendMailboxSize'),10 ))]:
+            self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.StandardConfig[treelist], data, 1)         
+                
+    def MakeStaticBoxSizer(self, boxlabel):
+        """
+        Make StaticBoxSizer
+        @param boxlabel : label of box sizer
+        @return sizer : the StaticBoxSizer labeled 'boxlabel'
+        """
+        box = wx.StaticBox(self, -1, boxlabel)
+        sizer = wx.StaticBoxSizer(box, wx.VERTICAL)
+
+        return sizer
+        
+    def GetWordAddressData(self, dict_tuple, format):
+        """
+        This method converts word address data from EEPROM binary.
+        @param dict_tuple : element of 'sii_dict' dictionary in SetEEPROMData()
+        @param format : format of data. It can be 16(hex), 10(decimal) and 2(binary).
+        @return formatted value
+        """  
+        offset = int(str(dict_tuple[0]), 16) * 2
+        length = int(str(dict_tuple[1]), 16) * 2
+        list = []
+        data = ''
+        for index in range(length):
+            hexdata = hex(ord(self.SiiBinary[offset + index]))[2:]
+            list.append(hexdata.zfill(2))
+            
+        list.reverse()
+        data = list[0:length]
+
+        if format == 16:
+            return '0x' + ''.join(data) 
+        elif format == 10:
+            return str(int(str(''.join(data)), 16))
+        elif format == 2: 
+            ''.join(data)           
+
+
+#-------------------------------------------------------------------------------
+#                    For Smart View TreeListCtrl
+#-------------------------------------------------------------------------------  
+class SmartViewTreeListCtrl(wx.Panel):
+    def __init__(self, parent, Controler):
+        """
+        Constructor
+        @param parent: Reference to the parent SlaveSiiSmartView class
+        @param controler: _EthercatSlaveCTN class in EthercatSlave.py
+        """
+
+        wx.Panel.__init__(self, parent, -1, size=(350, 500))
+        
+        self.Tree = wx.gizmos.TreeListCtrl(self, -1, size=(350, 500), 
+                                           style=wx.TR_DEFAULT_STYLE
+                                                |wx.TR_FULL_ROW_HIGHLIGHT
+                                                |wx.TR_HIDE_ROOT
+                                                |wx.TR_COLUMN_LINES
+                                                |wx.TR_ROW_LINES)
+        
+        self.Tree.AddColumn("Description", width=200)
+        self.Tree.AddColumn("Value", width=140)
+        self.Tree.SetMainColumn(0)
+        
+        self.Root = self.Tree.AddRoot("")
+        
+        # Add item
+        #  Level 1 nodes
+        self.Level1Nodes = {}
+        for lv1 in ["Config Data", "Device Identity", "Mailbox"]:
+            self.Level1Nodes[lv1] = self.Tree.AppendItem(self.Root, lv1)
+        
+        #  Level 2 nodes
+        #   Config Data
+        self.ConfigData = {}
+        for lv2 in ["EEPROM Size (Bytes)", "PDI Type", "Device Emulation"]:
+            self.ConfigData[lv2] = self.Tree.AppendItem(self.Level1Nodes["Config Data"], lv2)
+        #   Device Identity
+        self.DeviceIdentity = {}
+        for lv2 in ["Vendor ID", "Product Code", "Revision No.", "Serial No."]:
+            self.DeviceIdentity[lv2] = self.Tree.AppendItem(self.Level1Nodes["Device Identity"], lv2)
+        #   Mailbox
+        self.Mailbox = {}
+        for lv2 in ["Supported Mailbox", "Bootstrap Configuration", "Standard Configuration"]:
+            self.Mailbox[lv2] = self.Tree.AppendItem(self.Level1Nodes["Mailbox"], lv2)
+        
+        #  Level 3 nodes
+        #   Children of Bootstrap Configuration
+        self.BootstrapConfig = {}
+        for lv3 in ["Receive Offset", "Receive Size", "Send Offset", "Send Size"]:
+            self.BootstrapConfig[lv3] = self.Tree.AppendItem(self.Mailbox["Bootstrap Configuration"], lv3)
+        #   Children of Standard Configuration
+        self.StandardConfig = {}
+        for lv3 in ["Receive Offset", "Receive Size", "Send Offset", "Send Size"]:
+            self.StandardConfig[lv3] = self.Tree.AppendItem(self.Mailbox["Standard Configuration"], lv3)
+        
+        # Expand Tree
+        for tree in [self.Root, 
+                     self.Level1Nodes["Config Data"], 
+                     self.Level1Nodes["Device Identity"], 
+                     self.Level1Nodes["Mailbox"],
+                     self.Mailbox["Bootstrap Configuration"], 
+                     self.Mailbox["Standard Configuration"]]:
+            self.Tree.Expand(tree)
+
+
+#-------------------------------------------------------------------------------
+#                         For Hex View Panel
+#            shows EEPROM binary as hex data and characters.
+#-------------------------------------------------------------------------------  
+class HexView(wx.Panel):
+    def __init__(self, parent, controler):
+        """
+        Constructor
+        @param parent: Reference to the parent EtherCATManagementTreebook class
+        @param controler: _EthercatSlaveCTN class in EthercatSlave.py
+        """
+        wx.Panel.__init__(self, parent, -1)
+        self.parent = parent
+        self.Controler = controler
+                
+        self.HexRow = 8
+        self.HexCol = 17
+        
+        self.HexViewSizer = {"view" : wx.FlexGridSizer(cols=1, hgap=10, rows=2, vgap=10),
+                             "siiButton" : wx.BoxSizer()}
+        self.HexViewButton = {}
+
+        for key, evt_handler in [("Sii Upload", self.OnButtonSiiUpload),
+                                ("Sii Download", self.OnButtonSiiDownload),
+                                ("Write to File", self.OnButtonWriteToBinFile),
+                                ("Read from File", self.OnButtonReadFromBinFile),
+                                ("XML to EEPROM Image", self.OnButtonXmlToEEPROMImg)]:
+            self.HexViewButton[key] = wx.Button(self, -1, key) 
+            self.HexViewButton[key].Bind(wx.EVT_BUTTON, evt_handler)
+            self.HexViewSizer["siiButton"].Add(self.HexViewButton[key])
+
+        self.SiiBinary = self.Controler.CommonMethod.XmlToEeprom()
+        self.HexCode, self.HexRow, self.HexCol = self.Controler.CommonMethod.HexRead(self.SiiBinary)
+        self.SiiGrid = SiiGridTable(self, self.Controler, self.HexRow, self.HexCol)
+        self.HexViewSizer["view"].AddMany([self.HexViewSizer["siiButton"], self.SiiGrid]) 
+        self.SiiGrid.CreateGrid(self.HexRow, self.HexCol)
+        self.SetSizer(self.HexViewSizer["view"])     
+        self.HexViewSizer["view"].FitInside(self.parent.parent)
+        self.parent.parent.FitInside()
+        self.SiiGrid.SetValue(self.HexCode)
+        self.SiiGrid.Update()
+
+    def UpdateSiiGridTable(self, row, col):
+        """
+        Destroy existing grid and recreate
+        @param row, col : Hex View grid size
+        """  
+        self.HexViewSizer["view"].Detach(self.SiiGrid)
+        self.SiiGrid.Destroy()
+        self.SiiGrid = SiiGridTable(self, self.Controler, row, col)
+        self.HexViewSizer["view"].Add(self.SiiGrid)
+        self.SiiGrid.CreateGrid(row, col)
+        self.SetSizer(self.HexViewSizer["view"])
+        self.HexViewSizer["view"].FitInside(self.parent.parent)
+        self.parent.parent.FitInside()
+
+    def OnButtonSiiUpload(self, event):
+        """
+        Load EEPROM data from slave and refresh Hex View grid
+        Binded to 'Sii Upload' button.
+        @param event : wx.EVT_BUTTON object
+        """  
+        # Check whether beremiz connected or not.
+        check_connect_flag = self.Controler.CommonMethod.CheckConnect(False)
+        if check_connect_flag:
+            # load from EEPROM data and parsing
+            self.SiiBinary = self.Controler.CommonMethod.LoadData()
+            self.HexCode, self.HexRow, self.HexCol = self.Controler.CommonMethod.HexRead(self.SiiBinary)
+            self.UpdateSiiGridTable(self.HexRow, self.HexCol)
+            self.SiiGrid.SetValue(self.HexCode)
+            self.SiiGrid.Update()
+            
+    def OnButtonSiiDownload(self, event):
+        """
+        Write current EEPROM data to slave and refresh data structure kept by master 
+        Binded to 'Sii Download' button.
+        @param event : wx.EVT_BUTTON object
+        """  
+        # Check whether beremiz connected or not, 
+        # and whether status is "Started" or not. 
+        check_connect_flag = self.Controler.CommonMethod.CheckConnect(False)
+        if check_connect_flag:
+            status, count = self.Controler.GetCTRoot()._connector.GetPLCstatus()
+            if status is not "Started":
+                self.Controler.CommonMethod.SiiWrite(self.SiiBinary)
+                self.Controler.CommonMethod.Rescan()
+        
+    def OnButtonWriteToBinFile(self, event):
+        """ 
+        Save current EEPROM data to binary file through FileDialog
+        Binded to 'Write to File' button.
+        @param event : wx.EVT_BUTTON object
+        """ 
+        dialog = wx.FileDialog(self, _("Save as..."), os.getcwd(), "slave0.bin",  
+                               _("bin files (*.bin)|*.bin|All files|*.*"), wx.SAVE|wx.OVERWRITE_PROMPT)
+
+        if dialog.ShowModal() == wx.ID_OK:
+            filepath = dialog.GetPath()
+            binfile = open(filepath,"wb")
+            binfile.write(self.SiiBinary)
+            binfile.close()
+    
+        dialog.Destroy()  
+    
+    def OnButtonReadFromBinFile(self, event):
+        """
+        Load binary file through FileDialog
+        Binded to 'Read from File' button.
+        @param event : wx.EVT_BUTTON object
+        """
+        dialog = wx.FileDialog(self, _("Choose a binary file"), os.getcwd(), "",  
+                               _("bin files (*.bin)|*.bin"), wx.OPEN)
+        
+        if dialog.ShowModal() == wx.ID_OK:
+            filepath = dialog.GetPath()
+            
+            try:
+                binfile = open(filepath, "rb")
+                self.SiiBinary = binfile.read()
+                self.HexCode, self.HexRow, self.HexCol = self.Controler.CommonMethod.HexRead(self.SiiBinary)
+                self.UpdateSiiGridTable(self.HexRow, self.HexCol)
+                self.SiiGrid.SetValue(self.HexCode)
+                self.SiiGrid.Update()
+            except:
+                self.Controler.CommonMethod.CreateErrorDialog('The file does not exist!')
+            
+        dialog.Destroy()
+            
+    def OnButtonXmlToEEPROMImg(self, event):
+        """
+        Create EEPROM data based XML data that current imported
+        Binded to 'XML to EEPROM' button.
+        @param event : wx.EVT_BUTTON object
+        """
+        self.SiiBinary = self.Controler.CommonMethod.XmlToEeprom()
+        self.HexCode, self.HexRow, self.HexCol = self.Controler.CommonMethod.HexRead(self.SiiBinary)
+        self.UpdateSiiGridTable(self.HexRow, self.HexCol)
+        self.SiiGrid.SetValue(self.HexCode)
+        self.SiiGrid.Update()
+
+
+#-------------------------------------------------------------------------------
+#                    For Hex View grid (fill hex data)
+#-------------------------------------------------------------------------------  
+class SiiGridTable(wx.grid.Grid):  
+    def __init__(self, parent, controler, row, col):
+        """
+        Constructor
+        @param parent: Reference to the parent HexView class
+        @param controler: _EthercatSlaveCTN class in EthercatSlave.py
+        @param row, col: Hex View grid size
+        """
+        self.parent = parent
+        self.Controler = controler
+        self.Row = row
+        self.Col = col    
+        
+        wx.grid.Grid.__init__(self, parent, -1, size=(830,450), 
+                              style=wx.ALIGN_CENTRE_HORIZONTAL|wx.ALIGN_CENTER_VERTICAL)        
+
+    def SetValue(self, value):
+        """
+        Set data in the table
+        @param value: EEPROM data list of which element is 1 Byte hex data
+        """
+        # set label name and size
+        self.SetRowLabelSize(100)
+        for col in range(self.Col):
+            if col == 16:
+                self.SetColLabelValue(16, "Text View")
+                self.SetColSize(16, (self.GetSize().x-120)*4/20)
+            else:
+                self.SetColLabelValue(col, '%s'%col)
+                self.SetColSize(col, (self.GetSize().x-120)/20)
+            
+        # set data into table
+        row = col = 0
+        for row_idx in value: 
+            col = 0
+            self.SetRowLabelValue(row, "0x"+"{:0>4x}".format(row*(self.Col-1)))
+            for hex in row_idx:
+                self.SetCellValue(row, col, hex)
+                
+                if col == 16: 
+                    self.SetCellAlignment(row, col, wx.ALIGN_LEFT, wx.ALIGN_CENTER)
+                else:
+                    self.SetCellAlignment(row, col, wx.ALIGN_CENTRE, wx.ALIGN_CENTER)
+                    
+                self.SetReadOnly(row, col, True)
+                col = col + 1
+            row = row + 1
+        
+
+#-------------------------------------------------------------------------------
+#                    For Register Access Panel
+#-------------------------------------------------------------------------------  
+class RegisterAccessPanel(wx.Panel):
+    def __init__(self, parent, controler):
+        """
+	    Constructor
+	    @param parent: EEPROMAccessPanel object
+	    @param controler: _EthercatSlaveCTN class in EthercatSlave.py
+	    """
+        self.parent = parent
+        self.Controler = controler
+        self.__init_data()
+        
+        wx.Panel.__init__(self, parent, -1)
+        
+        sizer = wx.FlexGridSizer(cols=1, hgap=20, rows=2, vgap=5)
+        button_sizer = wx.FlexGridSizer(cols=2, hgap=10, rows=1, vgap=10)
+        
+        self.ReloadButton = wx.Button(self, -1, "Reload")
+        self.CompactViewCheckbox = wx.CheckBox(self, -1, "Compact View")        
+        self.RegisterNotebook = RegisterNotebook(self, self.Controler)
+        
+        button_sizer.AddMany([self.ReloadButton, self.CompactViewCheckbox])
+        sizer.AddMany([button_sizer, self.RegisterNotebook])
+        self.SetSizer(sizer)
+        
+        self.ReloadButton.Bind(wx.EVT_BUTTON, self.OnReloadButton)
+        self.CompactViewCheckbox.Bind(wx.EVT_CHECKBOX, self.ToggleCompactViewCheckbox)
+        
+        for index in range(4):
+            self.RegisterNotebook.RegPage[index].MainTable.CreateGrid(self.MainRow[index], self.MainCol)
+            self.RegisterNotebook.RegPage[index].MainTable.SetValue(self, 0, index*512, (index+1)*512)
+        
+        # data default setting
+        if self.Controler.CommonMethod.RegData == "": 
+            self.CompactViewCheckbox.Disable() 
+            for index in range(4): 
+                self.RegisterNotebook.RegPage[index].MainTable.SetValue(self, 0, index*512, (index+1)*512)
+        else: # If data was saved,
+            self.BasicSetData()
+            self.ParseData()
+            for index in range(4):
+                self.RegisterNotebook.RegPage[index].MainTable.SetValue(self, self.RegMonitorData, index*512, (index+1)*512)
+
+    def __init_data(self):
+        """
+	    Declare initial data.
+	    """
+        # flag for compact view
+        self.CompactFlag = False
+        
+        # main grid의 rows and cols
+        self.MainRow = [512, 512, 512, 512]
+        self.MainCol = 4
+        
+        # main grids' data range
+        self.PageRange = []
+        for index in range(4):
+            self.PageRange.append([512*index, 512*(index+1)])
+        
+        #  Previous value of register data for register description configuration
+        self.PreRegSpec = {"ESCType": "",
+                           "FMMUNumber": "",
+                           "SMNumber": "",
+                           "PDIType": ""}
+        
+    def LoadData(self):
+        """
+        Get data from the register.
+        """
+        self.Controler.CommonMethod.RegData = ""
+        #ethercat reg_read
+        #ex : ethercat reg_read -p 0 0x0000 0x0001
+        #return value : 0x11
+        for index in range(4):
+            self.Controler.CommonMethod.RegData = self.Controler.CommonMethod.RegData + " " + self.Controler.CommonMethod.RegRead("0x"+"{:0>4x}".format(index*1024), "0x0400")
+        
+        # store previous value 
+        # (ESC type, port number of FMMU, port number of SM, and PDI type))
+        for reg_spec in ["ESCType","FMMUNumber","SMNumber", "PDIType"]:
+            self.PreRegSpec[reg_spec] = self.Controler.CommonMethod.CrtRegSpec[reg_spec]
+        
+        # update registers' description 
+        # (ESC type, port number of FMMU, port number of SM, and PDI type)
+        for reg_spec, address in [("ESCType", "0x0000"),
+                                  ("FMMUNumber", "0x0004"),
+                                  ("SMNumber", "0x0005"),
+                                  ("PDIType", "0x0140")]:
+            self.Controler.CommonMethod.CrtRegSpec[reg_spec] = self.Controler.CommonMethod.RegRead(address, "0x0001")
+                 
+        # Enable compactView checkbox
+        self.CompactViewCheckbox.Enable()
+    
+    def BasicSetData(self):
+        """
+        Get and save the description of registers. 
+        It's done by parsing register_information.xml.
+        """
+        # parse the above register's value
+        # If the value is 0x12, the result is 12
+        self.ESCType = self.Controler.CommonMethod.CrtRegSpec["ESCType"].split('x')[1]
+        self.PDIType = self.Controler.CommonMethod.CrtRegSpec["PDIType"].split('x')[1]
+        # If the value is 0x12, the result is 18 (It's converted to decimal value)
+        self.FMMUNumber = int(self.Controler.CommonMethod.CrtRegSpec["FMMUNumber"], 16)
+        self.SMNumber = int(self.Controler.CommonMethod.CrtRegSpec["SMNumber"], 16)
+        
+        # initialize description dictionary of register main table and register sub table.
+        self.RegisterDescriptionDict = {}
+        self.RegisterSubGridDict = {}
+        
+        # ./EthercatMaster/register_information.xml contains register description.
+        if wx.Platform == '__WXMSW__':
+            reg_info_file = open("../../EthercatMaster/register_information.xml", 'r')
+        else:
+            reg_info_file = open("./EthercatMaster/register_information.xml", 'r')
+        reg_info_tree = minidom.parse(reg_info_file)
+        reg_info_file.close()
+        
+        # parse register description
+        for register_info in reg_info_tree.childNodes:
+            for register in register_info.childNodes:
+                if register.nodeType == reg_info_tree.ELEMENT_NODE and register.nodeName == "Register":
+                    # If it depends on the property(ESC type, PDI type, FMMU number, SM number)
+                    for property, type, value in [("esc", "type", self.ESCType),
+                                                  ("pdi", "type", self.PDIType),
+                                                  ("fmmu", "number", self.FMMUNumber),
+                                                  ("sm", "number", self.SMNumber)]:
+                        if property in register.attributes.keys(): 
+                            if type == "type":
+                                if register.attributes[property].value == value:
+                                    self.GetRegisterInfo(reg_info_tree, register)
+                                    break
+                            else: # type == "number"
+                                if register.attributes[property].value < value:
+                                    self.GetRegisterInfo(reg_info_tree, register)
+                                    break
+                        else:
+                            self.GetRegisterInfo(reg_info_tree, register)
+                            break
+                            
+    def GetRegisterInfo(self, reg_info_tree, register):
+        """
+        Save the register's description into the dictionary.
+        reg_info_tree is based on the register_information.xml.
+        @param reg_info_tree: XML tree
+        @param register: register which you want to get the description
+        """
+        # temporary variables for register main table idescription dictionary
+        reg_index = ""
+        reg_main_description = ""
+        
+        for data in register.childNodes:
+            if data.nodeType == reg_info_tree.ELEMENT_NODE and data.nodeName == "Index":
+                for index in data.childNodes:
+                    reg_index = index.nodeValue
+            if data.nodeType == reg_info_tree.ELEMENT_NODE and data.nodeName == "Description":
+                for description in data.childNodes:
+                    reg_main_description = description.nodeValue
+                    
+            # Add description for register main table 
+            if reg_index is not "" and reg_main_description is not "":
+                self.RegisterDescriptionDict[reg_index] = reg_main_description
+                    
+            if data.nodeType == reg_info_tree.ELEMENT_NODE and data.nodeName == "Details":
+                # declare register sub table description dictionary about this index
+                self.RegisterSubGridDict[reg_index] = []
+                
+                for detail in data.childNodes:
+                    if detail.nodeType == reg_info_tree.ELEMENT_NODE and detail.nodeName == "Detail":
+                        # If it depends on the property(ESC type, PDI type, FMMU number, SM number)
+                        for property, type, value in [("esc", "type", self.ESCType),
+                                                      ("pdi", "type", self.PDIType),
+                                                      ("fmmu", "number", self.FMMUNumber),
+                                                      ("sm", "number", self.SMNumber)]:
+                            if property in detail.attributes.keys(): 
+                                if type == "type":
+                                    if detail.attributes[property].value == value:
+                                        self.GetRegisterDetailInfo(reg_info_tree, reg_index, detail)
+                                        break
+                                else: # type == "number"
+                                    if detail.attributes[property].value < value:
+                                        self.GetRegisterDetailInfo(reg_info_tree, reg_index, detail)
+                                        break
+                            else:
+                                self.GetRegisterDetailInfo(reg_info_tree, reg_index, detail)
+                                break
+                                          
+    def GetRegisterDetailInfo(self, reg_info_tree, reg_index, detail):
+        """
+        Get the resgister's detailed description(for sub table) from the reg_info_tree.
+        @param reg_info_tree: XML tree (register_information.xml)
+        @param reg_index: index of the register
+        @param detail: description of the register
+        """
+        # temporary variables for register sub table description dictionary 
+        # - It is initialized in every sub description 
+        reg_bit_range = ""
+        reg_sub_description = ""
+        reg_enum_dictionary = {}
+        
+        for detail_data in detail.childNodes:
+            if detail_data.nodeType == reg_info_tree.ELEMENT_NODE and detail_data.nodeName == "Range":                                            
+                for range in detail_data.childNodes:
+                    reg_bit_range = range.nodeValue
+            if detail_data.nodeType == reg_info_tree.ELEMENT_NODE and detail_data.nodeName == "Description":
+                for description in detail_data.childNodes:
+                    reg_sub_description = description.nodeValue
+                    
+            if detail_data.nodeType == reg_info_tree.ELEMENT_NODE and detail_data.nodeName == "Enum":
+                for enum in detail_data.childNodes:
+                    if enum.nodeType == reg_info_tree.ELEMENT_NODE and enum.nodeName == "item":
+                        
+                        # temporary variables for a description of each value 
+                        # For example, if the bit is 1, it is 'enabled'('On', 'True', etc.), 
+                        # otherwise 'disabled'('Off', 'False', etc.). 
+                        reg_sub_value = ""
+                        reg_sub_value_description = ""
+                        
+                        for item in enum.childNodes:
+                            if item.nodeType == reg_info_tree.ELEMENT_NODE and item.nodeName == "value":
+                                for value in item.childNodes:
+                                    reg_sub_value = value.nodeValue
+                            if item.nodeType == reg_info_tree.ELEMENT_NODE and item.nodeName == "Description":
+                                for description in item.childNodes:
+                                    reg_sub_value_description = description.nodeValue
+                                    
+                            # Add a description of each value to register enum dictionary
+                            if reg_sub_value is not "" and reg_sub_value_description is not "":
+                                reg_enum_dictionary[reg_sub_value] = reg_sub_value_description
+                            
+        # add a description to register sub table description dictionary
+        if reg_bit_range is not "" and reg_sub_description is not "":
+            self.RegisterSubGridDict[reg_index].append([reg_bit_range, 
+                                                         reg_sub_description, reg_enum_dictionary])
+    
+    def ParseData(self):
+        """
+        Transform the data into dec, hex, string, and description
+        """
+        row_data = []
+        self.RegMonitorData = []
+        reg_word = ""
+        
+        reg_data = self.Controler.CommonMethod.RegData.split()
+        
+        # loop for register(0x0000:0x0fff)
+        for address in range(0x1000):
+            # arrange 2 Bytes of register data 
+            reg_word = reg_data[address].split('x')[1] + reg_word
+            if (address%2) == 1:
+                # append address
+                hex_address = "{:0>4x}".format(address-1)
+                row_data.append(hex_address)
+                
+                # append description
+                if self.RegisterDescriptionDict.has_key(hex_address):
+                    row_data.append(self.RegisterDescriptionDict[hex_address])
+                else:
+                    row_data.append("")
+                    
+                # append Decimal value
+                row_data.append(str(int(reg_word, 16)))
+                
+                # append Hex value
+                row_data.append('0x'+reg_word)
+                
+                # append ASCII value
+                char_data = ""
+                for iter in range(2):
+                    if int(reg_word[iter*2:iter*2+2], 16)>=32 and int(reg_word[iter*2:iter*2+2], 16)<=126:
+                        char_data = char_data + chr(int(reg_word[iter*2:iter*2+2], 16))
+                    else:
+                        char_data = char_data + "."
+                row_data.append(char_data)
+                
+                self.RegMonitorData.append(row_data)
+                reg_word = "" # initialize regWord
+                row_data = []
+    
+    def OnReloadButton(self, event):
+        """
+        Handle the click event of the 'Reload' button.
+        Get the data from registers again, and update the table.
+        @param event: wx.EVT_BUTTON object
+        """
+        # Check whether beremiz connected or not.
+        check_connect_flag = self.Controler.CommonMethod.CheckConnect(False)
+        if check_connect_flag:
+            self.LoadData()
+            self.BasicSetData()
+            self.ParseData()
+            # set data into UI
+            if self.CompactFlag:
+                self.ToggleCompactViewCheckbox(True)
+            else : 
+                for index in range(4):
+                    self.RegisterNotebook.RegPage[index].UpdateMainTable(self.MainRow[index], self.MainCol, 
+                                                                         self.PageRange[index][0], self.PageRange[index][1], 
+                                                                         self.RegMonitorData)
+
+    def ToggleCompactViewCheckbox(self, event):
+        """
+        Handles the event of the 'Compact view' check box.
+        If it's checked, show only the registers that have a description.
+        If not, show all the registers.
+        @param event: wx.EVT_CHECKBOX object
+        """
+        
+        # If "Compact View" Checkbox is True
+        ## 'event' is argument of this method or event of checkbox.
+        if event==True or event.GetEventObject().GetValue():
+            self.CompactFlag = True
+            
+            reg_compact_data = []
+            page_row = [0, 0, 0, 0]
+            for index in range(4):
+                self.PageRange[index] = [0, 0]
+
+            for reg_row_data in self.RegMonitorData:
+                if reg_row_data[1] is not "":
+                    # data structure for "compact view"
+                    reg_compact_data.append(reg_row_data)
+                    # count for each register notebooks' row
+                    # It compare with register's address.
+                    for index in range(4):
+                        if int('0x'+reg_row_data[0], 16) < (index+1)*1024:
+                            page_row[index] += 1
+                            break
+
+            # Setting tables' rows and cols, range for compact view
+            for index in range(4):
+                self.MainRow[index] = page_row[index]
+                self.PageRange[index][1] = page_row[index]
+                for iter in range(index):
+                    self.PageRange[index][0] += page_row[iter]
+                    self.PageRange[index][1] += page_row[iter] 
+                          
+            # Update table
+            for index in range(4):
+                self.RegisterNotebook.RegPage[index].UpdateMainTable(self.MainRow[index], self.MainCol, 
+                                                                      self.PageRange[index][0], self.PageRange[index][1], 
+                                                                      reg_compact_data)
+            
+        # Compact View Checkbox is False    
+        else:
+            self.CompactFlag = False
+            # Setting original rows, cols and range
+            self.MainRow = [512, 512, 512, 512]
+            self.PageRange = []
+            
+            for index in range(4):
+                self.PageRange.append([512*index, 512*(index+1)])
+            
+            # Update table 
+            for index in range(4):
+                self.RegisterNotebook.RegPage[index].UpdateMainTable(self.MainRow[index], self.MainCol, 
+                                                                      self.PageRange[index][0], self.PageRange[index][1], 
+                                                                      self.RegMonitorData)
+                
+
+#-------------------------------------------------------------------------------
+#                    For Register Access Notebook (divide index range)
+#-------------------------------------------------------------------------------  
+class RegisterNotebook(wx.Notebook):
+    def __init__(self, parent, controler):
+        """
+        Constructor
+        @param parent: RegisterAccessPanel object
+        @param controler: _EthercatSlaveCTN class in EthercatSlave.py
+        """
+        wx.Notebook.__init__(self, parent, id = -1)
+        
+        self.parent = parent
+        self.Controler = controler
+        
+        # Initialize pages
+        self.RegPage = []
+        for iter in range(4):
+            self.RegPage.append(None)
+        
+        for index in range(4):
+            self.RegPage[index] = RegisterNotebookPanel(self, self.Controler, 
+                                                    parent.MainRow[index], parent.MainCol)
+            self.AddPage(self.RegPage[index], 
+                         "0x"+"{:0>4x}".format(index*1024)+" - 0x"+"{:0>4x}".format((index+1)*1024-1))
+        
+        self.Bind(wx.EVT_NOTEBOOK_PAGE_CHANGED, self.OnPageChanged)
+        self.Bind(wx.EVT_NOTEBOOK_PAGE_CHANGING, self.OnPageChanging)
+
+    def OnPageChanged(self, event):
+        old = event.GetOldSelection()
+        new = event.GetSelection()
+        sel = self.GetSelection()
+        event.Skip()
+
+    def OnPageChanging(self, event):
+        old = event.GetOldSelection()
+        new = event.GetSelection()
+        sel = self.GetSelection()
+        event.Skip()
+
+
+#-------------------------------------------------------------------------------
+#                    For Register Access Notebook Panel 
+#                  (Main UI : including main, sub table)
+#-------------------------------------------------------------------------------  
+class RegisterNotebookPanel(wx.Panel):
+    def __init__(self, parent, controler, row, col):
+        """
+        Constructor
+        @param parent: RegisterAccessPanel object
+        @param controler: _EthercatSlaveCTN class in EthercatSlave.py
+        @param row, col: size of the table
+    	"""
+        wx.Panel.__init__(self, parent, -1)
+        
+        self.parent = parent
+        self.Controler = controler
+        self.Row = row
+        self.Col = col
+        sub_row = 0
+        sub_col = 4
+        
+        self.Sizer = wx.FlexGridSizer(cols=1, hgap=10, rows=2, vgap=30)
+        
+        self.MainTable = RegisterMainTable(self, self.Row, self.Col, self.Controler)
+        self.SubTable = RegisterSubTable(self, sub_row, sub_col)
+        
+        self.SubTable.CreateGrid(sub_row, sub_col)
+        self.SubTable.SetValue(self, [])
+        
+        self.Sizer.AddMany([self.MainTable, self.SubTable])
+        
+        self.SetSizer(self.Sizer)
+     
+    def UpdateMainTable(self, row, col, low_index, high_index, data):
+        """
+        Updates main table.
+        It's done by deleting the main table and creating it again.
+        @param row, col: size of the table
+        @param low_index: the lowest index of the page
+        @param high_index: the highest index of the page
+        @param data: data
+    	"""
+        self.MainTable.Destroy()
+        self.MainTable = RegisterMainTable(self, row, col, self.Controler)
+        self.Sizer.Detach(self.SubTable)
+        self.Sizer.AddMany([self.MainTable, self.SubTable])
+        self.SetSizer(self.Sizer)
+        self.MainTable.CreateGrid(row, col)
+        self.MainTable.SetValue(self, data, low_index, high_index)
+        self.MainTable.Update()
+
+    def UpdateSubTable(self, row, col, data):
+        """
+        Updates sub table.
+        It's done by deleting the sub table and creating it again.
+        @param row, col: size of the table
+        @param data: data
+    	"""
+        self.SubTable.Destroy()
+        self.SubTable = RegisterSubTable(self, row, col)
+        self.Sizer.Detach(self.MainTable)
+        self.Sizer.AddMany([self.MainTable, self.SubTable])
+        self.Sizer.Layout()
+        self.SetSizer(self.Sizer)
+        self.SubTable.CreateGrid(row, col)
+        self.SubTable.SetValue(self, data)
+        self.SubTable.Update()
+        
+
+#-------------------------------------------------------------------------------
+#                    For Register Access Notebook Panel (Main Table)
+#-------------------------------------------------------------------------------  
+class RegisterMainTable(wx.grid.Grid):
+    def __init__(self, parent, row, col, controler):        
+        """
+	    Constructor
+	    @param parent: RegisterNotebook object
+	    @param row, col: size of the table
+	    @param controler: _EthercatSlaveCTN class in EthercatSlave.py
+	    """
+        self.parent = parent
+        self.Data = {}
+        self.Row = row
+        self.Col = col
+        self.Controler = controler
+        self.RegisterAccessPanel = self.parent.parent.parent
+        
+        wx.grid.Grid.__init__(self, parent, -1, size=(820,300), 
+                              style=wx.EXPAND|wx.ALIGN_CENTRE_HORIZONTAL|wx.ALIGN_CENTER_VERTICAL)        
+        
+        for evt, mapping_method in [(gridlib.EVT_GRID_CELL_LEFT_CLICK, self.OnSelectCell),
+                                    (gridlib.EVT_GRID_CELL_LEFT_CLICK, self.OnSelectCell),
+                                    (gridlib.EVT_GRID_CELL_LEFT_DCLICK, self.OnRegModifyDialog)]:
+            self.Bind(evt, mapping_method)
+       
+    def SetValue(self, parent, reg_monitor_data, low_index, high_index):  
+        """
+	    Set the RegMonitorData into the main table.
+	    @param parent: RegisterNotebook object
+	    @param reg_monitor_data: data
+	    @param low_index: the lowest index of the page
+	    @param high_index: the highest index of the page
+	    """
+        self.RegMonitorData = reg_monitor_data
+        
+        # set label name and size
+        register_maintable_label = [(0, "Description"), (1, "Dec"), 
+                                    (2, "Hex"), (3, "Char")]
+        
+        for (index, label) in register_maintable_label:
+            self.SetColLabelValue(index, label)
+        
+        self.SetColSize(0, 200)
+    
+        # if reg_monitor_data is 0, it is initialization of register access.
+        if reg_monitor_data == 0:
+            return 0
+    
+        # set data into UI 
+        row = col = 0
+        for row_index in reg_monitor_data[low_index:high_index]:
+            col = 0
+            self.SetRowLabelValue(row, row_index[0])
+            for data_index in range(4):
+                self.SetCellValue(row, col, row_index[data_index+1])
+                self.SetCellAlignment(row, col, wx.ALIGN_CENTRE, wx.ALIGN_CENTER)
+                self.SetReadOnly(row, col, True)
+                col = col + 1
+            row = row + 1
+    
+    def OnSelectCell(self, event): 
+        """
+	    Handles the event of the cell of the main table.
+	    @param event: gridlib object (left click)
+	    """
+        # if reg_monitor_data is 0, it is initialization of register access.
+        if self.RegMonitorData == 0:
+            event.Skip()
+            return 0
+        
+        sub_row = 0
+        sub_col = 4
+        
+        address = self.GetRowLabelValue(event.GetRow())
+        
+        reg_sub_grid_data = []
+        
+        BIT_RANGE, NAME, DESCRIPTIONS = range(3)
+        
+        # Check if this register's detail description is exist or not, 
+        # and create data structure for the detail description table ; sub grid
+        if address in self.RegisterAccessPanel.RegisterSubGridDict:
+            for element in self.RegisterAccessPanel.RegisterSubGridDict[address]:
+                row_data =[]
+                row_data.append(element[BIT_RANGE])
+                row_data.append(element[NAME])
+                bin_data = "{:0>16b}".format(int(self.GetCellValue(event.GetRow(), 1)))
+                value_range = element[BIT_RANGE].split('-')
+                value = (bin_data[8:16][::-1]+bin_data[0:8][::-1])[int(value_range[0]):(int(value_range[-1])+1)][::-1]
+                row_data.append(str(int(('0b'+str(value)), 2)))
+                if value in element[DESCRIPTIONS]:
+                    row_data.append(element[DESCRIPTIONS][value])
+                else:
+                    row_data.append('')
+                reg_sub_grid_data.append(row_data)
+                sub_row = sub_row + 1
+        
+        self.parent.UpdateSubTable(sub_row, sub_col, reg_sub_grid_data)
+        # event.Skip() updates UI of selecting cell
+        event.Skip()
+    
+    def OnRegModifyDialog(self, event):
+        """
+        Handle the event of the cell of the main table.
+        Display the window where the user modifies the value of the cell.
+        @param event: gridlib object (double click)
+	    """
+        # user can enter a value in case that user double-clicked 'Dec' or 'Hex' value.
+        if event.GetCol() == 1 or event.GetCol() == 2:
+            dlg = wx.TextEntryDialog(self, "Enter hex(0xnnnn) or dec(n) value", 
+                                     "Register Modify Dialog", style = wx.OK|wx.CANCEL)
+            
+            # Setting value in initial dialog value
+            start_value = self.GetCellValue(event.GetRow(), event.GetCol())
+            dlg.SetValue(start_value)
+        
+            if dlg.ShowModal() == wx.ID_OK:
+                try:
+                    # It int(input) success, this input is dev or hex value. 
+                    # Otherwise, it's error, so it goes except.
+                    int(dlg.GetValue(), 0)
+
+                    # reg_write
+                    # ex) ethercat reg_write -p 0 -t uint16 0x0000 0x0000
+                    return_val = self.Controler.CommonMethod.RegWrite('0x'+self.GetRowLabelValue(event.GetRow()), dlg.GetValue())
+
+                    if len(return_val)==0:
+                        # set dec
+                        self.SetCellValue(event.GetRow(), 1, str(int(dlg.GetValue(), 0))) 
+                        # set hex
+                        hex_data = '0x'+"{:0>4x}".format(int(dlg.GetValue(), 0))
+                        self.SetCellValue(event.GetRow(), 2, hex_data)
+                        # set char
+                        char_data = ""
+                        # If hex_data is been able to convert to ascii code, append ascii code.
+                        for iter in range(2):
+                            if int(hex_data[(iter+1)*2:(iter+2)*2], 16)>=32 and int(hex_data[(iter+1)*2:(iter+2)*2], 16)<=126:
+                                char_data = char_data + chr(int(hex_data[(iter+1)*2:(iter+2)*2], 16))
+                            else:
+                                char_data = char_data + "."
+                            
+                        self.SetCellValue(event.GetRow(), 3, char_data) 
+                    
+                    else:
+                        self.Controler.CommonMethod.CreateErrorDialog('You can\'t modify it. This register is read-only or it\'s not connected.')
+                
+                except ValueError:
+                    self.Controler.CommonMethod.CreateErrorDialog('You entered wrong value. You can enter dec or hex value only.')
+        
+    
+#-------------------------------------------------------------------------------
+#                    For Register Access Notebook Panel (Sub Table)
+#-------------------------------------------------------------------------------  
+class RegisterSubTable(wx.grid.Grid):
+    def __init__(self, parent, row, col):
+        """
+    	 Constructor
+    	 @param parent: RegisterNotebook object
+    	 @param row, col: size of the table
+    	"""
+        self.parent = parent
+        self.Data = {}
+        self.Row = row
+        self.Col = col
+
+        wx.grid.Grid.__init__(self, parent, -1, size=(820,150), 
+                              style=wx.EXPAND|wx.ALIGN_CENTRE_HORIZONTAL|wx.ALIGN_CENTER_VERTICAL)        
+
+    def SetValue(self, parent, data):
+        """
+	    Set the data into the subtable.
+	    @param parent: RegisterNotebook object
+	    @param data: data
+	    """
+        # lset label name and size
+        Register_SubTable_Label = [(0, "Bits"), (1, "Name"), 
+                                    (2, "Value"), (3, "Enum")]
+        
+        for (index, label) in Register_SubTable_Label:
+            self.SetColLabelValue(index, label)
+        
+        self.SetColSize(1, 200)
+        self.SetColSize(3, 200)
+            
+        # set data into table
+        row = col = 0
+        for rowData in data: 
+            col = 0     
+            for element in rowData:
+                self.SetCellValue(row, col, element)
+                self.SetCellAlignment(row, col, wx.ALIGN_CENTRE, wx.ALIGN_CENTER)
+                self.SetReadOnly(row, col, True)
+                col = col + 1
+            row = row + 1
+                
+
+#-------------------------------------------------------------------------------
+#                    For Master State Panel
+#-------------------------------------------------------------------------------  
+class MasterStatePanelClass(wx.Panel):
+    def __init__(self, parent, controler):
+        """
+        Constructor
+        @param parent: wx.ScrollWindow object
+        @Param controler: _EthercatSlaveCTN class in EthercatSlave.py
+        """
+        wx.Panel.__init__(self, parent, -1, (0, 0), 
+                          size=wx.DefaultSize, style = wx.SUNKEN_BORDER)
+        self.Controler = controler
+        self.parent = parent
+        self.StaticBox = {}
+        self.StaticText = {}
+        self.TextCtrl = {}
+          
+        # ----------------------- Main Sizer and Update Button --------------------------------------------
+        self.MasterStateSizer = {"main" : wx.BoxSizer(wx.VERTICAL)}
+        for key, attr in [
+            ("innerMain",           [1, 10, 2, 10]),
+            ("innerTopHalf",        [2, 10, 1, 10]),
+            ("innerBottomHalf",     [2, 10, 1, 10]),
+            ("innerMasterState",    [2, 10, 3, 10]),
+            ("innerDeviceInfo",     [4, 10, 3, 10]),
+            ("innerFrameInfo",      [4, 10, 5, 10])]:
+            self.MasterStateSizer[key] = wx.FlexGridSizer(cols=attr[0], hgap=attr[1], rows=attr[2], vgap=attr[3])
+
+
+        self.UpdateButton = wx.Button(self, label=_('Update'))
+        self.UpdateButton.Bind(wx.EVT_BUTTON, self.OnButtonClick)
+       
+        for key, label in [                
+            ('masterState', 'EtherCAT Master State'),
+            ('deviceInfo', 'Ethernet Network Card Information'),
+            ('frameInfo', 'Network Frame Information')]:
+            self.StaticBox[key] = wx.StaticBox(self, label=_(label))
+            self.MasterStateSizer[key] = wx.StaticBoxSizer(self.StaticBox[key])
+        
+        
+        # ----------------------- Master State -----------------------------------------------------------
+        for key, label in [
+            ('Phase', 'Phase:'),
+            ('Active', 'Active:'),
+            ('Slaves', 'Slave Count:')]:
+            self.StaticText[key] = wx.StaticText(self, label=_(label))
+            self.TextCtrl[key] = wx.TextCtrl(self, size=wx.Size(130, 24), style=wx.TE_READONLY)
+            self.MasterStateSizer['innerMasterState'].AddMany([self.StaticText[key], self.TextCtrl[key]])    
+        
+        self.MasterStateSizer['masterState'].AddSizer(self.MasterStateSizer['innerMasterState'])
+        
+        # ----------------------- Ethernet Network Card Information --------------------------------------- 
+        for key, label in [
+            ('Main', 'MAC Address:'),
+            ('Link', 'Link State:'),
+            ('Tx frames', 'Tx Frames:'),
+            ('Rx frames', 'Rx Frames:'),
+            ('Lost frames', 'Lost Frames:')]:
+            self.StaticText[key] = wx.StaticText(self, label=_(label))
+            self.TextCtrl[key] = wx.TextCtrl(self, size=wx.Size(130, 24), style=wx.TE_READONLY)
+            self.MasterStateSizer['innerDeviceInfo'].AddMany([self.StaticText[key], self.TextCtrl[key]])
+        
+        self.MasterStateSizer['deviceInfo'].AddSizer(self.MasterStateSizer['innerDeviceInfo'])
+        
+        # ----------------------- Network Frame Information -----------------------------------------------
+        for key, label in [
+            ('Tx frame rate [1/s]', 'Tx Frame Rate [1/s]:'), 
+            ('Rx frame rate [1/s]', 'Tx Rate [kByte/s]:'), 
+            ('Loss rate [1/s]', 'Loss Rate [1/s]:'),
+            ('Frame loss [%]', 'Frame Loss [%]:')]:
+            self.StaticText[key] = wx.StaticText(self, label=_(label))
+            self.MasterStateSizer['innerFrameInfo'].Add(self.StaticText[key])
+            self.TextCtrl[key] = {} 
+            for index in ['0', '1', '2']:                
+                self.TextCtrl[key][index] = wx.TextCtrl(self, size=wx.Size(130, 24), style=wx.TE_READONLY)
+                self.MasterStateSizer['innerFrameInfo'].Add(self.TextCtrl[key][index])
+        
+        self.MasterStateSizer['frameInfo'].AddSizer(self.MasterStateSizer['innerFrameInfo'])
+        
+        # --------------------------------- Main Sizer ----------------------------------------------------
+        for key, sub, in [
+            ('innerTopHalf', [
+                    'masterState', 'deviceInfo']),
+            ('innerBottomHalf', [
+                    'frameInfo']),
+            ('innerMain', [
+                    'innerTopHalf', 'innerBottomHalf'])]:
+            for key2 in sub:
+                self.MasterStateSizer[key].AddSizer(self.MasterStateSizer[key2])
+
+        self.MasterStateSizer['main'].AddSizer(self.UpdateButton)
+        self.MasterStateSizer['main'].AddSizer(self.MasterStateSizer['innerMain'])
+        
+        self.SetSizer(self.MasterStateSizer['main'])
+
+    def OnButtonClick(self, event):
+        """
+        Handle the event of the 'Update' button.
+        Update the data of the master state.
+        @param event: wx.EVT_BUTTON object
+        """
+        if self.Controler.GetCTRoot()._connector is not None:
+            self.MasterState = self.Controler.CommonMethod.GetMasterState()
+            # Update each TextCtrl
+            if self.MasterState:
+                for key in self.TextCtrl:
+                    if isinstance(self.TextCtrl[key], dict):
+                        for index in self.TextCtrl[key]:
+                            self.TextCtrl[key][index].SetValue(self.MasterState[key][int(index)])
+                    else:
+                        self.TextCtrl[key].SetValue(self.MasterState[key][0])
+        else :
+            self.Controler.CommonMethod.CreateErrorDialog('PLC not connected!')
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/etherlab/EthercatCFileGenerator.py	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,568 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+# This file is part of Beremiz
+#
+# Copyright (C) 2011-2014: Laurent BESSARD, Edouard TISSERANT
+#                          RTES Lab : CRKim, JBLee, youcu
+#                          Higen Motor : Donggu Kang
+#
+# See COPYING file for copyrights details.
+
+import os
+
+from EthercatSlave import ExtractHexDecValue, DATATYPECONVERSION, ExtractName
+
+SLAVE_PDOS_CONFIGURATION_DECLARATION = """
+/* Slave %(slave)d, "%(device_type)s"
+ * Vendor ID:       0x%(vendor).8x
+ * Product code:    0x%(product_code).8x
+ * Revision number: 0x%(revision_number).8x
+ */
+
+ec_pdo_entry_info_t slave_%(slave)d_pdo_entries[] = {
+%(pdos_entries_infos)s
+};
+
+ec_pdo_info_t slave_%(slave)d_pdos[] = {
+%(pdos_infos)s
+};
+
+ec_sync_info_t slave_%(slave)d_syncs[] = {
+%(pdos_sync_infos)s
+    {0xff}
+};
+"""
+
+SLAVE_CONFIGURATION_TEMPLATE = """
+    if (!(slave%(slave)d = ecrt_master_slave_config(master, %(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x))) {
+        SLOGF(LOG_CRITICAL, "EtherCAT failed to get slave %(device_type)s configuration at alias %(alias)d and position %(position)d.");
+        goto ecat_failed;
+    }
+
+    if (ecrt_slave_config_pdos(slave%(slave)d, EC_END, slave_%(slave)d_syncs)) {
+        SLOGF(LOG_CRITICAL, "EtherCAT failed to configure PDOs for slave %(device_type)s at alias %(alias)d and position %(position)d.");
+        goto ecat_failed;
+    }
+"""
+
+SLAVE_INITIALIZATION_TEMPLATE = """
+    {
+        uint8_t value[%(data_size)d];
+        EC_WRITE_%(data_type)s((uint8_t *)value, %(data)s);
+        if (ecrt_master_sdo_download(master, %(slave)d, 0x%(index).4x, 0x%(subindex).2x, (uint8_t *)value, %(data_size)d, &abort_code)) {
+            SLOGF(LOG_CRITICAL, "EtherCAT Failed to initialize slave %(device_type)s at alias %(alias)d and position %(position)d. Error: %%d", abort_code);
+            goto ecat_failed;
+        }
+    }
+"""
+
+SLAVE_OUTPUT_PDO_DEFAULT_VALUE = """
+    {
+        uint8_t value[%(data_size)d];
+        if (ecrt_master_sdo_upload(master, %(slave)d, 0x%(index).4x, 0x%(subindex).2x, (uint8_t *)value, %(data_size)d, &result_size, &abort_code)) {
+            SLOGF(LOG_CRITICAL, "EtherCAT failed to get default value for output PDO in slave %(device_type)s at alias %(alias)d and position %(position)d. Error: %%ud", abort_code);
+            goto ecat_failed;
+        }
+        %(real_var)s = EC_READ_%(data_type)s((uint8_t *)value);
+    }
+"""
+
+def ConfigureVariable(entry_infos, str_completion):
+    entry_infos["data_type"] = DATATYPECONVERSION.get(entry_infos["var_type"], None)
+    if entry_infos["data_type"] is None:
+        raise ValueError, _("Type of location \"%s\" not yet supported!") % entry_infos["var_name"]
+    
+    if not entry_infos.get("no_decl", False):
+        if entry_infos.has_key("real_var"):
+            str_completion["located_variables_declaration"].append(
+                "IEC_%(var_type)s %(real_var)s;" % entry_infos)
+        else:
+            entry_infos["real_var"] = "beremiz" + entry_infos["var_name"]
+            str_completion["located_variables_declaration"].extend(
+                ["IEC_%(var_type)s %(real_var)s;" % entry_infos,
+                 "IEC_%(var_type)s *%(var_name)s = &%(real_var)s;" % entry_infos])
+        for declaration in entry_infos.get("extra_declarations", []):
+            entry_infos["extra_decl"] = declaration
+            str_completion["located_variables_declaration"].append(
+                 "IEC_%(var_type)s *%(extra_decl)s = &%(real_var)s;" % entry_infos)
+    elif not entry_infos.has_key("real_var"):
+        entry_infos["real_var"] = "beremiz" + entry_infos["var_name"]
+    
+    str_completion["used_pdo_entry_offset_variables_declaration"].append(
+        "unsigned int slave%(slave)d_%(index).4x_%(subindex).2x;" % entry_infos)
+    
+    if entry_infos["data_type"] == "BIT":
+        str_completion["used_pdo_entry_offset_variables_declaration"].append(
+            "unsigned int slave%(slave)d_%(index).4x_%(subindex).2x_bit;" % entry_infos)
+        
+        str_completion["used_pdo_entry_configuration"].append(
+             ("    {%(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x, " + 
+              "0x%(index).4x, %(subindex)d, &slave%(slave)d_%(index).4x_%(subindex).2x, " + 
+              "&slave%(slave)d_%(index).4x_%(subindex).2x_bit},") % entry_infos)
+        
+        if entry_infos["dir"] == "I":
+            str_completion["retrieve_variables"].append(
+              ("    %(real_var)s = EC_READ_BIT(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " + 
+               "slave%(slave)d_%(index).4x_%(subindex).2x_bit);") % entry_infos)
+        elif entry_infos["dir"] == "Q":
+            str_completion["publish_variables"].append(
+              ("    EC_WRITE_BIT(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " + 
+               "slave%(slave)d_%(index).4x_%(subindex).2x_bit, %(real_var)s);") % entry_infos)
+    
+    else:
+        str_completion["used_pdo_entry_configuration"].append(
+            ("    {%(alias)d, %(position)d, 0x%(vendor).8x, 0x%(product_code).8x, 0x%(index).4x, " + 
+             "%(subindex)d, &slave%(slave)d_%(index).4x_%(subindex).2x},") % entry_infos)
+        
+        if entry_infos["dir"] == "I":
+            str_completion["retrieve_variables"].append(
+                ("    %(real_var)s = EC_READ_%(data_type)s(domain1_pd + " + 
+                 "slave%(slave)d_%(index).4x_%(subindex).2x);") % entry_infos)
+        elif entry_infos["dir"] == "Q":
+            str_completion["publish_variables"].append(
+                ("    EC_WRITE_%(data_type)s(domain1_pd + slave%(slave)d_%(index).4x_%(subindex).2x, " + 
+                 "%(real_var)s);") % entry_infos)
+
+def ExclusionSortFunction(x, y):
+    if x["matching"] == y["matching"]:
+        if x["assigned"] and not y["assigned"]:
+            return -1
+        elif not x["assigned"] and y["assigned"]:
+            return 1
+        return cmp(x["count"], y["count"])
+    return -cmp(x["matching"], y["matching"])
+
+class _EthercatCFileGenerator:
+    
+    def __init__(self, controler):
+        self.Controler = controler
+        
+        self.Slaves = []
+        self.UsedVariables = {}
+
+    def __del__(self):
+        self.Controler = None            
+    
+    def DeclareSlave(self, slave_index, slave):
+        self.Slaves.append((slave_index, slave.getInfo().getAutoIncAddr(), slave))
+
+    def DeclareVariable(self, slave_index, index, subindex, iec_type, dir, name, no_decl=False):
+        slave_variables = self.UsedVariables.setdefault(slave_index, {})
+        
+        entry_infos = slave_variables.get((index, subindex), None)
+        if entry_infos is None:
+            slave_variables[(index, subindex)] = {
+                "infos": (iec_type, dir, name, no_decl, []),
+                "mapped": False}
+            return name
+        elif entry_infos["infos"][:2] == (iec_type, dir):
+            if name != entry_infos["infos"][2]:
+                if dir == "I":
+                    entry_infos["infos"][4].append(name)
+                    return entry_infos["infos"][2]
+                else:
+                    raise ValueError, _("Output variables can't be defined with different locations (%s and %s)") % (entry_infos["infos"][2], name)
+        else:
+            raise ValueError, _("Definition conflict for location \"%s\"") % name 
+        
+    def GenerateCFile(self, filepath, location_str, master_number):
+        
+        # Extract etherlab master code template
+        plc_etherlab_filepath = os.path.join(os.path.split(__file__)[0], "plc_etherlab.c")
+        plc_etherlab_file = open(plc_etherlab_filepath, 'r')
+        plc_etherlab_code = plc_etherlab_file.read()
+        plc_etherlab_file.close()
+        
+        # Initialize strings for formatting master code template
+        str_completion = {
+            "location": location_str,
+            "master_number": master_number,
+            "located_variables_declaration": [],
+            "used_pdo_entry_offset_variables_declaration": [],
+            "used_pdo_entry_configuration": [],
+            "pdos_configuration_declaration": "",
+            "slaves_declaration": "",
+            "slaves_configuration": "",
+            "slaves_output_pdos_default_values_extraction": "",
+            "slaves_initialization": "",
+            "retrieve_variables": [],
+            "publish_variables": [],
+        }
+        
+        # Initialize variable storing variable mapping state
+        for slave_entries in self.UsedVariables.itervalues():
+            for entry_infos in slave_entries.itervalues():
+                entry_infos["mapped"] = False
+        
+        # Sort slaves by position (IEC_Channel)
+        self.Slaves.sort()
+        # Initialize dictionary storing alias auto-increment position values
+        alias = {}
+        
+        # Generating code for each slave
+        for (slave_idx, slave_alias, slave) in self.Slaves:
+            type_infos = slave.getType()
+            
+            # Defining slave alias and auto-increment position
+            if alias.get(slave_alias) is not None:
+                alias[slave_alias] += 1
+            else:
+                alias[slave_alias] = 0
+            slave_pos = (slave_alias, alias[slave_alias])
+            
+            # Extract slave device informations
+            device, module_extra_params = self.Controler.GetModuleInfos(type_infos)
+            if device is None:
+                raise ValueError, _("No informations found for device %s!") % (type_infos["device_type"])
+            
+            # Extract slaves variables to be mapped
+            slave_variables = self.UsedVariables.get(slave_idx, {})
+            
+            # Extract slave device object dictionary entries
+            device_entries = device.GetEntriesList()
+            
+            # Adding code for declaring slave in master code template strings
+            for element in ["vendor", "product_code", "revision_number"]:
+                type_infos[element] = ExtractHexDecValue(type_infos[element])
+            type_infos.update(dict(zip(["slave", "alias", "position"], (slave_idx,) + slave_pos)))
+            
+            # Extract slave device CoE informations
+            device_coe = device.getCoE()
+            if device_coe is not None:
+                
+                # If device support CanOpen over Ethernet, adding code for calling 
+                # init commands when initializing slave in master code template strings
+                initCmds = []
+                for initCmd in device_coe.getInitCmd():
+                    initCmds.append({
+                        "Index": ExtractHexDecValue(initCmd.getIndex()),
+                        "Subindex": ExtractHexDecValue(initCmd.getSubIndex()),
+                        "Value": initCmd.getData().getcontent()})
+                initCmds.extend(slave.getStartupCommands())
+                for initCmd in initCmds:
+                    index = initCmd["Index"]
+                    subindex = initCmd["Subindex"]
+                    entry = device_entries.get((index, subindex), None)
+                    if entry is not None:
+                        data_size = entry["BitSize"] / 8
+                        data_str = ("0x%%.%dx" % (data_size * 2)) % initCmd["Value"]
+                        init_cmd_infos = {
+                            "index": index,
+                            "subindex": subindex,
+                            "data": data_str,
+                            "data_type": DATATYPECONVERSION.get(entry["Type"]),
+                            "data_size": data_size
+                        }
+                        init_cmd_infos.update(type_infos)
+                        str_completion["slaves_initialization"] += SLAVE_INITIALIZATION_TEMPLATE % init_cmd_infos
+            
+                # Extract slave device PDO configuration capabilities
+                PdoAssign = device_coe.getPdoAssign()
+                PdoConfig = device_coe.getPdoConfig()
+            else:
+                PdoAssign = PdoConfig = False
+            
+            # Test if slave has a configuration or need one
+            if len(device.getTxPdo() + device.getRxPdo()) > 0 or len(slave_variables) > 0 and PdoConfig and PdoAssign:
+                
+                str_completion["slaves_declaration"] += "static ec_slave_config_t *slave%(slave)d = NULL;\n" % type_infos
+                str_completion["slaves_configuration"] += SLAVE_CONFIGURATION_TEMPLATE % type_infos
+                
+                # Initializing 
+                pdos_infos = {
+                    "pdos_entries_infos": [],
+                    "pdos_infos": [],
+                    "pdos_sync_infos": [], 
+                }
+                pdos_infos.update(type_infos)
+                
+                sync_managers = []
+                for sync_manager_idx, sync_manager in enumerate(device.getSm()):
+                    sync_manager_infos = {
+                        "index": sync_manager_idx, 
+                        "name": sync_manager.getcontent(),
+                        "slave": slave_idx,
+                        "pdos": [], 
+                        "pdos_number": 0,
+                    }
+                    
+                    sync_manager_control_byte = ExtractHexDecValue(sync_manager.getControlByte())
+                    sync_manager_direction = sync_manager_control_byte & 0x0c
+                    sync_manager_watchdog = sync_manager_control_byte & 0x40
+                    if sync_manager_direction:
+                        sync_manager_infos["sync_manager_type"] = "EC_DIR_OUTPUT"
+                    else:
+                        sync_manager_infos["sync_manager_type"] = "EC_DIR_INPUT"
+                    if sync_manager_watchdog:
+                        sync_manager_infos["watchdog"] = "EC_WD_ENABLE"
+                    else:
+                        sync_manager_infos["watchdog"] = "EC_WD_DISABLE"
+                    
+                    sync_managers.append(sync_manager_infos)
+                
+                pdos_index = []
+                exclusive_pdos = {}
+                selected_pdos = []
+                for pdo, pdo_type in ([(pdo, "Inputs") for pdo in device.getTxPdo()] +
+                                      [(pdo, "Outputs") for pdo in device.getRxPdo()]):
+                    
+                    pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent())
+                    pdos_index.append(pdo_index)
+                    
+                    excluded_list = pdo.getExclude()
+                    if len(excluded_list) > 0:
+                        exclusion_list = [pdo_index]
+                        for excluded in excluded_list:
+                            exclusion_list.append(ExtractHexDecValue(excluded.getcontent()))
+                        exclusion_list.sort()
+                        
+                        exclusion_scope = exclusive_pdos.setdefault(tuple(exclusion_list), [])
+                        
+                        entries = pdo.getEntry()
+                        pdo_mapping_match = {
+                            "index": pdo_index, 
+                            "matching": 0, 
+                            "count": len(entries), 
+                            "assigned": pdo.getSm() is not None
+                        }
+                        exclusion_scope.append(pdo_mapping_match)
+                        
+                        for entry in entries:
+                            index = ExtractHexDecValue(entry.getIndex().getcontent())
+                            subindex = ExtractHexDecValue(entry.getSubIndex())
+                            if slave_variables.get((index, subindex), None) is not None:
+                                pdo_mapping_match["matching"] += 1
+                    
+                        if pdo.getFixed() != True:
+                            pdo_mapping_match["matching"] += \
+                                module_extra_params["max_pdo_size"] - \
+                                pdo_mapping_match["count"]
+                    
+                    elif pdo.getMandatory():
+                        selected_pdos.append(pdo_index)
+                
+                excluded_pdos = []
+                for exclusion_scope in exclusive_pdos.itervalues():
+                    exclusion_scope.sort(ExclusionSortFunction)
+                    start_excluding_index = 0
+                    if exclusion_scope[0]["matching"] > 0:
+                        selected_pdos.append(exclusion_scope[0]["index"])
+                        start_excluding_index = 1
+                    excluded_pdos.extend([pdo["index"] 
+                        for pdo in exclusion_scope[start_excluding_index:] 
+                        if PdoAssign or not pdo["assigned"]])
+                
+                for pdo, pdo_type in ([(pdo, "Inputs") for pdo in device.getTxPdo()] +
+                                      [(pdo, "Outputs") for pdo in device.getRxPdo()]):
+                    entries = pdo.getEntry()
+                    
+                    pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent())
+                    if pdo_index in excluded_pdos:
+                        continue
+                    
+                    pdo_needed = pdo_index in selected_pdos
+                    
+                    entries_infos = []
+                    
+                    for entry in entries:
+                        index = ExtractHexDecValue(entry.getIndex().getcontent())
+                        subindex = ExtractHexDecValue(entry.getSubIndex())
+                        entry_infos = {
+                            "index": index,
+                            "subindex": subindex,
+                            "name": ExtractName(entry.getName()),
+                            "bitlen": entry.getBitLen(),
+                        }
+                        entry_infos.update(type_infos)
+                        entries_infos.append("    {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos)
+                        
+                        entry_declaration = slave_variables.get((index, subindex), None)
+                        if entry_declaration is not None and not entry_declaration["mapped"]:
+                            pdo_needed = True
+                            
+                            entry_infos.update(dict(zip(["var_type", "dir", "var_name", "no_decl", "extra_declarations"], 
+                                                        entry_declaration["infos"])))
+                            entry_declaration["mapped"] = True
+                            
+                            entry_type = entry.getDataType().getcontent()
+                            if entry_infos["var_type"] != entry_type:
+                                message = _("Wrong type for location \"%s\"!") % entry_infos["var_name"]
+                                if (self.Controler.GetSizeOfType(entry_infos["var_type"]) != 
+                                    self.Controler.GetSizeOfType(entry_type)):
+                                    raise ValueError, message
+                                else:
+                                    self.Controler.GetCTRoot().logger.write_warning(_("Warning: ") + message + "\n")
+                            
+                            if (entry_infos["dir"] == "I" and pdo_type != "Inputs" or 
+                                entry_infos["dir"] == "Q" and pdo_type != "Outputs"):
+                                raise ValueError, _("Wrong direction for location \"%s\"!") % entry_infos["var_name"]
+                            
+                            ConfigureVariable(entry_infos, str_completion)
+                        
+                        elif pdo_type == "Outputs" and entry.getDataType() is not None and device_coe is not None:
+                            data_type = entry.getDataType().getcontent()
+                            entry_infos["dir"] = "Q"
+                            entry_infos["data_size"] = max(1, entry_infos["bitlen"] / 8)
+                            entry_infos["data_type"] = DATATYPECONVERSION.get(data_type)
+                            entry_infos["var_type"] = data_type
+                            entry_infos["real_var"] = "slave%(slave)d_%(index).4x_%(subindex).2x_default" % entry_infos
+                            
+                            ConfigureVariable(entry_infos, str_completion)
+                            
+                            str_completion["slaves_output_pdos_default_values_extraction"] += \
+                                SLAVE_OUTPUT_PDO_DEFAULT_VALUE % entry_infos
+                            
+                    if pdo_needed:
+                        for excluded in pdo.getExclude():
+                            excluded_index = ExtractHexDecValue(excluded.getcontent())
+                            if excluded_index not in excluded_pdos:
+                                excluded_pdos.append(excluded_index)
+                        
+                        sm = pdo.getSm()
+                        if sm is None:
+                            for sm_idx, sync_manager in enumerate(sync_managers):
+                                if sync_manager["name"] == pdo_type:
+                                    sm = sm_idx
+                        if sm is None:
+                            raise ValueError, _("No sync manager available for %s pdo!") % pdo_type
+                            
+                        sync_managers[sm]["pdos_number"] += 1
+                        sync_managers[sm]["pdos"].append(
+                            {"slave": slave_idx,
+                             "index": pdo_index,
+                             "name": ExtractName(pdo.getName()),
+                             "type": pdo_type, 
+                             "entries": entries_infos,
+                             "entries_number": len(entries_infos),
+                             "fixed": pdo.getFixed() == True})
+            
+                if PdoConfig and PdoAssign:
+                    dynamic_pdos = {}
+                    dynamic_pdos_number = 0
+                    for category, min_index, max_index in [("Inputs", 0x1600, 0x1800), 
+                                                           ("Outputs", 0x1a00, 0x1C00)]:
+                        for sync_manager in sync_managers:
+                            if sync_manager["name"] == category:
+                                category_infos = dynamic_pdos.setdefault(category, {})
+                                category_infos["sync_manager"] = sync_manager
+                                category_infos["pdos"] = [pdo for pdo in category_infos["sync_manager"]["pdos"] 
+                                                          if not pdo["fixed"] and pdo["type"] == category]
+                                category_infos["current_index"] = min_index
+                                category_infos["max_index"] = max_index
+                                break
+                    
+                    for (index, subindex), entry_declaration in slave_variables.iteritems():
+                        
+                        if not entry_declaration["mapped"]:
+                            entry = device_entries.get((index, subindex), None)
+                            if entry is None:
+                                raise ValueError, _("Unknown entry index 0x%4.4x, subindex 0x%2.2x for device %s") % \
+                                                 (index, subindex, type_infos["device_type"])
+                            
+                            entry_infos = {
+                                "index": index,
+                                "subindex": subindex,
+                                "name": entry["Name"],
+                                "bitlen": entry["BitSize"],
+                            }
+                            entry_infos.update(type_infos)
+                            
+                            entry_infos.update(dict(zip(["var_type", "dir", "var_name", "no_decl", "extra_declarations"], 
+                                                        entry_declaration["infos"])))
+                            entry_declaration["mapped"] = True
+                            
+                            if entry_infos["var_type"] != entry["Type"]:
+                                message = _("Wrong type for location \"%s\"!") % entry_infos["var_name"]
+                                if (self.Controler.GetSizeOfType(entry_infos["var_type"]) != 
+                                    self.Controler.GetSizeOfType(entry["Type"])):
+                                    raise ValueError, message
+                                else:
+                                    self.Controler.GetCTRoot().logger.write_warning(message + "\n")
+                            
+                            if entry_infos["dir"] == "I" and entry["PDOMapping"] in ["T", "RT"]:
+                                pdo_type = "Inputs"
+                            elif entry_infos["dir"] == "Q" and entry["PDOMapping"] in ["R", "RT"]:
+                                pdo_type = "Outputs"
+                            else:
+                                raise ValueError, _("Wrong direction for location \"%s\"!") % entry_infos["var_name"]
+                            
+                            if not dynamic_pdos.has_key(pdo_type):
+                                raise ValueError, _("No Sync manager defined for %s!") % pdo_type
+                            
+                            ConfigureVariable(entry_infos, str_completion)
+                            
+                            if len(dynamic_pdos[pdo_type]["pdos"]) > 0:
+                                pdo = dynamic_pdos[pdo_type]["pdos"][0]
+                            elif module_extra_params["add_pdo"]:
+                                while dynamic_pdos[pdo_type]["current_index"] in pdos_index:
+                                    dynamic_pdos[pdo_type]["current_index"] += 1
+                                if dynamic_pdos[pdo_type]["current_index"] >= dynamic_pdos[pdo_type]["max_index"]:
+                                    raise ValueError, _("No more free PDO index available for %s!") % pdo_type
+                                pdos_index.append(dynamic_pdos[pdo_type]["current_index"])
+                                
+                                dynamic_pdos_number += 1
+                                pdo = {"slave": slave_idx,
+                                       "index": dynamic_pdos[pdo_type]["current_index"],
+                                       "name": "Dynamic PDO %d" % dynamic_pdos_number,
+                                       "type": pdo_type, 
+                                       "entries": [],
+                                       "entries_number": 0,
+                                       "fixed": False}
+                                dynamic_pdos[pdo_type]["sync_manager"]["pdos_number"] += 1
+                                dynamic_pdos[pdo_type]["sync_manager"]["pdos"].append(pdo)
+                                dynamic_pdos[pdo_type]["pdos"].append(pdo)
+                            else:
+                                break
+                            
+                            pdo["entries"].append("    {0x%(index).4x, 0x%(subindex).2x, %(bitlen)d}, /* %(name)s */" % entry_infos)
+                            if entry_infos["bitlen"] < module_extra_params["pdo_alignment"]:
+                                pdo["entries"].append("    {0x0000, 0x00, %d}, /* None */" % (
+                                        module_extra_params["pdo_alignment"] - entry_infos["bitlen"]))
+                            pdo["entries_number"] += 1
+                            
+                            if pdo["entries_number"] == module_extra_params["max_pdo_size"]:
+                                dynamic_pdos[pdo_type]["pdos"].pop(0)
+                
+                pdo_offset = 0
+                entry_offset = 0
+                for sync_manager_infos in sync_managers:
+                
+                    for pdo_infos in sync_manager_infos["pdos"]:
+                        pdo_infos["offset"] = entry_offset
+                        pdo_entries = pdo_infos["entries"]
+                        pdos_infos["pdos_infos"].append(
+                            ("    {0x%(index).4x, %(entries_number)d, " + 
+                             "slave_%(slave)d_pdo_entries + %(offset)d}, /* %(name)s */") % pdo_infos)
+                        entry_offset += len(pdo_entries)
+                        pdos_infos["pdos_entries_infos"].extend(pdo_entries)
+                    
+                    sync_manager_infos["offset"] = pdo_offset
+                    pdo_offset_shift = sync_manager_infos["pdos_number"]
+                    pdos_infos["pdos_sync_infos"].append(
+                        ("    {%(index)d, %(sync_manager_type)s, %(pdos_number)d, " + 
+                         ("slave_%(slave)d_pdos + %(offset)d" if pdo_offset_shift else "NULL") +
+                         ", %(watchdog)s},") % sync_manager_infos)
+                    pdo_offset += pdo_offset_shift  
+                
+                for element in ["pdos_entries_infos", "pdos_infos", "pdos_sync_infos"]:
+                    pdos_infos[element] = "\n".join(pdos_infos[element])
+                
+                str_completion["pdos_configuration_declaration"] += SLAVE_PDOS_CONFIGURATION_DECLARATION % pdos_infos
+            
+            for (index, subindex), entry_declaration in slave_variables.iteritems():
+                if not entry_declaration["mapped"]:
+                    message = _("Entry index 0x%4.4x, subindex 0x%2.2x not mapped for device %s") % \
+                                    (index, subindex, type_infos["device_type"])
+                    self.Controler.GetCTRoot().logger.write_warning(_("Warning: ") + message + "\n")
+                    
+        for element in ["used_pdo_entry_offset_variables_declaration", 
+                        "used_pdo_entry_configuration", 
+                        "located_variables_declaration", 
+                        "retrieve_variables", 
+                        "publish_variables"]:
+            str_completion[element] = "\n".join(str_completion[element])
+        
+        etherlabfile = open(filepath, 'w')
+        etherlabfile.write(plc_etherlab_code % str_completion)
+        etherlabfile.close()
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/etherlab/EthercatCIA402Slave.py	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,332 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+# This file is part of Beremiz
+#
+# Copyright (C) 2011-2014: Laurent BESSARD, Edouard TISSERANT
+#                          RTES Lab : CRKim, JBLee, youcu
+#                          Higen Motor : Donggu Kang
+#
+# See COPYING file for copyrights details.
+
+import os
+
+import wx
+
+from PLCControler import LOCATION_CONFNODE, LOCATION_MODULE, LOCATION_GROUP, LOCATION_VAR_INPUT, LOCATION_VAR_OUTPUT, LOCATION_VAR_MEMORY
+
+from MotionLibrary import Headers, AxisXSD
+from EthercatSlave import _EthercatSlaveCTN, _CommonSlave
+from ConfigEditor import CIA402NodeEditor
+
+# Definition of node variables that have to be mapped in PDO
+# [(name, index, subindex, type, 
+#   direction for master ('I': input, 'Q': output)),...]
+NODE_VARIABLES = [
+    ("ControlWord",             0x6040, 0x00, "UINT", "Q"),
+    ("TargetPosition",          0x607a, 0x00, "DINT", "Q"),
+    ("TargetVelocity",          0x60ff, 0x00, "DINT", "Q"),
+    ("TargetTorque",            0x6071, 0x00, "INT",  "Q"),
+    ("ModesOfOperation",        0x6060, 0x00, "SINT", "Q"),
+    ("StatusWord",              0x6041, 0x00, "UINT", "I"),
+    ("ModesOfOperationDisplay", 0x6061, 0x00, "SINT", "I"),
+    ("ActualPosition",          0x6064, 0x00, "DINT", "I"),
+    ("ActualVelocity",          0x606c, 0x00, "DINT", "I"),
+    ("ActualTorque",            0x6077, 0x00, "INT",  "I"),
+]
+
+# Definition of optional node variables that can be added to PDO mapping.
+# A checkbox will be displayed for each section in node configuration panel to
+# enable them
+# [(section_name, 
+#   [{'description', (name, index, subindex, type, 
+#                     direction for master ('I': input, 'Q': output)),
+#     'retrieve', string_template_for_retrieve_variable (None: not retrieved, 
+#                                 default string template if not defined),
+#     'publish', string_template_for_publish_variable (None: not published, 
+#                                 default string template if not defined),
+#    },...]
+EXTRA_NODE_VARIABLES = [
+    ("ErrorCode", [
+        {"description": ("ErrorCode", 0x603F, 0x00, "UINT", "I"),
+         "publish": None}
+        ]),
+    ("DigitalInputs", [
+        {"description": ("DigitalInputs", 0x60FD, 0x00, "UDINT", "I"),
+         "publish": None}
+        ]),
+    ("DigitalOutputs", [
+        {"description": ("DigitalOutputs", 0x60FE, 0x00, "UDINT", "Q"),
+         "retrieve": None}
+        ]),
+    ("TouchProbe", [
+        {"description": ("TouchProbeFunction", 0x60B8, 0x00, "UINT", "Q"),
+         "retrieve": None},
+        {"description": ("TouchProbeStatus", 0x60B9, 0x00, "UINT", "I"),
+         "publish": None},
+        {"description": ("TouchProbePos1PosValue", 0x60BA, 0x00, "DINT", "I"),
+         "publish": None},
+        {"description": ("TouchProbePos1NegValue", 0x60BB, 0x00, "DINT", "I"),
+         "publish": None},
+        ]),
+]
+
+# List of parameters name in no configuration panel for optional variable
+# sections
+EXTRA_NODE_VARIABLES_DICT = {
+    "Enable" + name: params 
+    for name, params in EXTRA_NODE_VARIABLES}
+
+# List of block to define to interface MCL to fieldbus for specific functions
+FIELDBUS_INTERFACE_GLOBAL_INSTANCES = [
+    {"blocktype": "GetTorqueLimit", 
+     "inputs": [],
+     "outputs": [{"name": "TorqueLimitPos", "type": "UINT"},
+                 {"name": "TorqueLimitNeg", "type": "UINT"}]},
+    {"blocktype": "SetTorqueLimit", 
+     "inputs": [{"name": "TorqueLimitPos", "type": "UINT"},
+                {"name": "TorqueLimitNeg", "type": "UINT"}],
+     "outputs": []},
+]
+
+#--------------------------------------------------
+#                 Ethercat CIA402 Node
+#--------------------------------------------------
+
+class _EthercatCIA402SlaveCTN(_EthercatSlaveCTN):
+    XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?>
+    <xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">
+      <xsd:element name="CIA402SlaveParams">
+        <xsd:complexType>
+          %s
+        </xsd:complexType>
+      </xsd:element>
+    </xsd:schema>
+    """ % ("\n".join(["""\
+          <xsd:attribute name="Enable%s" type="xsd:boolean"
+                         use="optional" default="false"/>""" % category 
+                for category, variables in EXTRA_NODE_VARIABLES]) + AxisXSD)
+    
+    NODE_PROFILE = 402
+    EditorType = CIA402NodeEditor
+    
+    ConfNodeMethods = [
+        {"bitmap" : "CIA402AxisRef",
+         "name" : _("Axis Ref"),
+         "tooltip" : _("Initiate Drag'n drop of Axis ref located variable"),
+         "method" : "_getCIA402AxisRef",
+         "push": True},
+        {"bitmap" : "CIA402NetPos",
+         "name" : _("Axis Pos"),
+         "tooltip" : _("Initiate Drag'n drop of Network position located variable"),
+         "method" : "_getCIA402NetworkPosition",
+         "push": True},
+    ]
+    
+#--------------------------------------------------
+#    class code
+#--------------------------------------------------    
+    
+    def __init__(self):
+        # ----------- call ethercat mng. function --------------
+        self.CommonMethod = _CommonSlave(self)
+    
+    def GetIconName(self):
+        return "CIA402Slave"
+    
+    def SetParamsAttribute(self, path, value):
+        if path == "CIA402SlaveParams.Type":
+            path = "SlaveParams.Type"
+        elif path == "CIA402SlaveParams.Alias":
+            path = "SlaveParams.Alias"
+        return _EthercatSlaveCTN.SetParamsAttribute(self, path, value)
+    
+    def GetVariableLocationTree(self):
+        axis_name = self.CTNName()
+        current_location = self.GetCurrentLocation()
+        children = [{"name": name_frmt % (axis_name),
+                     "type": LOCATION_VAR_INPUT,
+                     "size": "W",
+                     "IEC_type": iec_type,
+                     "var_name": var_name_frmt % axis_name,
+                     "location": location_frmt % (
+                            ".".join(map(str, current_location))),
+                     "description": "",
+                     "children": []}
+                    for name_frmt, iec_type, var_name_frmt, location_frmt in
+                        [("%s Network Position", "UINT", "%s_pos", "%%IW%s"),
+                         ("%s Axis Ref", "AXIS_REF", "%s", "%%IW%s.402")]]
+        children.extend(self.CTNParent.GetDeviceLocationTree(
+                            self.GetSlavePos(), current_location, axis_name))
+        return  {"name": axis_name,
+                 "type": LOCATION_CONFNODE,
+                 "location": self.GetFullIEC_Channel(),
+                 "children": children,
+        }
+    
+    def CTNGlobalInstances(self):
+        current_location = self.GetCurrentLocation()
+        return [("%s_%s" % (block_infos["blocktype"], 
+                            "_".join(map(str, current_location))),
+                 "EtherLab%s" % block_infos["blocktype"], "") 
+                for block_infos in FIELDBUS_INTERFACE_GLOBAL_INSTANCES]
+    
+    def StartDragNDrop(self, data):
+        data_obj = wx.TextDataObject(str(data))
+        dragSource = wx.DropSource(self.GetCTRoot().AppFrame)
+        dragSource.SetData(data_obj)
+        dragSource.DoDragDrop()
+    
+    def _getCIA402NetworkPosition(self):
+        self.StartDragNDrop(
+            ("%%IW%s" % ".".join(map(str, self.GetCurrentLocation())), 
+             "location", "UINT", self.CTNName() + "_Pos", ""))
+        
+    def _getCIA402AxisRef(self):
+        self.StartDragNDrop(
+            ("%%IW%s.402" % ".".join(map(str, self.GetCurrentLocation())), 
+             "location", "AXIS_REF", self.CTNName(), ""))
+        
+    def CTNGenerate_C(self, buildpath, locations):
+        current_location = self.GetCurrentLocation()
+        
+        location_str = "_".join(map(lambda x:str(x), current_location))
+        slave_pos = self.GetSlavePos()
+        MCL_headers = Headers
+        
+        # Open CIA402 node code template file 
+        plc_cia402node_filepath = os.path.join(os.path.split(__file__)[0], 
+                                               "plc_cia402node.c")
+        plc_cia402node_file = open(plc_cia402node_filepath, 'r')
+        plc_cia402node_code = plc_cia402node_file.read()
+        plc_cia402node_file.close()
+        
+        # Init list of generated strings for each code template file section
+        fieldbus_interface_declaration = []
+        fieldbus_interface_definition = []
+        init_axis_params = []
+        extra_variables_retrieve = []
+        extra_variables_publish = []
+        extern_located_variables_declaration = []
+        entry_variables = []
+        init_entry_variables = []
+        
+        # Fieldbus interface code sections
+        for blocktype_infos in FIELDBUS_INTERFACE_GLOBAL_INSTANCES:
+            blocktype = blocktype_infos["blocktype"]
+            ucase_blocktype = blocktype.upper()
+            blockname = "_".join([ucase_blocktype, location_str])
+            
+            extract_inputs = "\n".join(["""\
+    __SET_VAR(%s->, %s,, %s);""" % (blockname, input_name, input_value)
+                for (input_name, input_value) in [
+                    ("EXECUTE", "__GET_VAR(data__->EXECUTE)")] + [
+                    (input["name"].upper(), 
+                     "__GET_VAR(data__->%s)" % input["name"].upper())
+                    for input in blocktype_infos["inputs"]]
+                ])
+            
+            
+            return_outputs = "\n".join(["""\
+    __SET_VAR(data__->,%(output_name)s,, 
+              __GET_VAR(%(blockname)s->%(output_name)s));""" % locals()
+                    for output_name in ["DONE", "BUSY", "ERROR"] + [
+                        output["name"].upper()
+                        for output in blocktype_infos["outputs"]]
+                ])
+                        
+            fieldbus_interface_declaration.append("""
+extern void ETHERLAB%(ucase_blocktype)s_body__(ETHERLAB%(ucase_blocktype)s* data__);
+void __%(blocktype)s_%(location_str)s(MC_%(ucase_blocktype)s *data__) {
+__DECLARE_GLOBAL_PROTOTYPE(ETHERLAB%(ucase_blocktype)s, %(blockname)s);
+ETHERLAB%(ucase_blocktype)s* %(blockname)s = __GET_GLOBAL_%(blockname)s();
+__SET_VAR(%(blockname)s->, POS,, AxsPub.axis->NetworkPosition);
+%(extract_inputs)s
+ETHERLAB%(ucase_blocktype)s_body__(%(blockname)s);
+%(return_outputs)s
+}""" % locals())
+            
+            fieldbus_interface_definition.append("""\
+        AxsPub.axis->__mcl_func_MC_%(blocktype)s = __%(blocktype)s_%(location_str)s;\
+""" % locals())
+        
+        # Get a copy list of default variables to map
+        variables = NODE_VARIABLES[:]
+        
+        # Set AxisRef public struct members value
+        node_params = self.CTNParams[1].getElementInfos(self.CTNParams[0])
+        for param in node_params["children"]:
+            param_name = param["name"]
+            
+            # Param is optional variables section enable flag
+            extra_node_variable_infos = EXTRA_NODE_VARIABLES_DICT.get(param_name)
+            if extra_node_variable_infos is not None:
+                param_name = param_name.replace("Enable", "") + "Enabled"
+                
+                if not param["value"]:
+                    continue
+                
+                # Optional variables section is enabled
+                for variable_infos in extra_node_variable_infos:
+                    var_name = variable_infos["description"][0]
+                    
+                    # Add each variables defined in section description to the
+                    # list of variables to map
+                    variables.append(variable_infos["description"])
+                    
+                    # Add code to publish or retrive variable
+                    for var_exchange_dir, str_list, default_template in [
+                         ("retrieve", extra_variables_retrieve,
+                          "    AxsPub.axis->%(var_name)s = *(AxsPub.%(var_name)s);"),
+                         ("publish", extra_variables_publish,
+                          "    *(AxsPub.%(var_name)s) = AxsPub.axis->%(var_name)s;")]:
+                        
+                        template = variable_infos.get(var_exchange_dir, 
+                                                      default_template)
+                        if template is not None:
+                            extra_variables_publish.append(template % locals())
+            
+            # Set AxisRef public struct member value if defined
+            if param["value"] is not None:
+                param_value = ({True: "1", False: "0"}[param["value"]]
+                               if param["type"] == "boolean"
+                               else str(param["value"]))
+                
+                init_axis_params.append("""\
+        AxsPub.axis->%(param_name)s = %(param_value)s;""" % locals())
+        
+        # Add each variable in list of variables to map to master list of
+        # variables to add to network configuration
+        for name, index, subindex, var_type, dir in variables:
+            var_size = self.GetSizeOfType(var_type)
+            var_name = """\
+__%(dir)s%(var_size)s%(location_str)s_%(index)d_%(subindex)d""" % locals()
+            
+            extern_located_variables_declaration.append(
+                    "IEC_%(var_type)s *%(var_name)s;" % locals())
+            entry_variables.append(
+                    "    IEC_%(var_type)s *%(name)s;" % locals())
+            init_entry_variables.append(
+                    "    AxsPub.%(name)s = %(var_name)s;" % locals())
+            
+            self.CTNParent.FileGenerator.DeclareVariable(
+                    slave_pos, index, subindex, var_type, dir, var_name)
+        
+        # Add newline between string in list of generated strings for sections
+        [fieldbus_interface_declaration, fieldbus_interface_definition,
+         init_axis_params, extra_variables_retrieve, extra_variables_publish,
+         extern_located_variables_declaration, entry_variables, 
+         init_entry_variables] = map(lambda l: "\n".join(l), [
+            fieldbus_interface_declaration, fieldbus_interface_definition,
+            init_axis_params, extra_variables_retrieve, extra_variables_publish,
+            extern_located_variables_declaration, entry_variables, 
+            init_entry_variables])
+        
+        # Write generated content to CIA402 node file
+        Gen_CIA402Nodefile_path = os.path.join(buildpath, 
+                                "cia402node_%s.c"%location_str)
+        cia402nodefile = open(Gen_CIA402Nodefile_path, 'w')
+        cia402nodefile.write(plc_cia402node_code % locals())
+        cia402nodefile.close()
+        
+        return [(Gen_CIA402Nodefile_path, '"-I%s"'%os.path.abspath(self.GetCTRoot().GetIECLibPath()))],"",True
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/etherlab/EthercatMaster.py	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,814 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+# This file is part of Beremiz
+#
+# Copyright (C) 2011-2014: Laurent BESSARD, Edouard TISSERANT
+#                          RTES Lab : CRKim, JBLee, youcu
+#                          Higen Motor : Donggu Kang
+#
+# See COPYING file for copyrights details.
+
+import os
+import cPickle
+from lxml import etree
+from copy import deepcopy
+
+import wx
+
+from xmlclass import *
+
+from PLCControler import UndoBuffer, LOCATION_CONFNODE, LOCATION_MODULE, LOCATION_GROUP, LOCATION_VAR_INPUT, LOCATION_VAR_OUTPUT, LOCATION_VAR_MEMORY
+from ConfigTreeNode import ConfigTreeNode
+from dialogs import BrowseValuesLibraryDialog
+from IDEFrame import TITLE, FILEMENU, PROJECTTREE
+
+from EthercatSlave import _EthercatSlaveCTN, ExtractHexDecValue, GenerateHexDecValue, TYPECONVERSION, VARCLASSCONVERSION, _CommonSlave
+from EthercatCFileGenerator import _EthercatCFileGenerator
+from ConfigEditor import MasterEditor
+from POULibrary import POULibrary
+
+try:
+    from EthercatCIA402Slave import _EthercatCIA402SlaveCTN
+    HAS_MCL = True
+except:
+    HAS_MCL = False
+
+#--------------------------------------------------
+#         Remote Exec Etherlab Commands
+#--------------------------------------------------
+
+SCAN_COMMAND = """
+import commands
+result = commands.getoutput("ethercat slaves")
+slaves = []
+for slave_line in result.splitlines():
+    chunks = slave_line.split()
+    idx, pos, state, flag = chunks[:4]
+    name = " ".join(chunks[4:])
+    alias, position = pos.split(":")
+    slave = {"idx": int(idx),
+             "alias": int(alias),
+             "position": int(position),
+             "name": name}
+    details = commands.getoutput("ethercat slaves -p %d -v" % slave["idx"])
+    for details_line in details.splitlines():
+        details_line = details_line.strip()
+        for header, param in [("Vendor Id:", "vendor_id"),
+                              ("Product code:", "product_code"),
+                              ("Revision number:", "revision_number")]:
+            if details_line.startswith(header):
+                slave[param] = details_line.split()[-1]
+                break
+    slaves.append(slave)
+returnVal = slaves
+"""
+
+#--------------------------------------------------
+#      Etherlab Specific Blocks Library
+#--------------------------------------------------
+
+def GetLocalPath(filename):
+    return os.path.join(os.path.split(__file__)[0], filename)
+
+class EtherlabLibrary(POULibrary):
+    def GetLibraryPath(self):
+        return GetLocalPath("pous.xml")
+
+    def Generate_C(self, buildpath, varlist, IECCFLAGS):
+        etherlab_ext_file = open(GetLocalPath("etherlab_ext.c"), 'r')
+        etherlab_ext_code = etherlab_ext_file.read()
+        etherlab_ext_file.close()
+        
+        Gen_etherlabfile_path = os.path.join(buildpath, "etherlab_ext.c")
+        ethelabfile = open(Gen_etherlabfile_path,'w')
+        ethelabfile.write(etherlab_ext_code)
+        ethelabfile.close()
+        
+        runtimefile_path = os.path.join(os.path.split(__file__)[0], "runtime_etherlab.py")
+        return ((["etherlab_ext"], [(Gen_etherlabfile_path, IECCFLAGS)], True), "", 
+                ("runtime_etherlab.py", file(GetLocalPath("runtime_etherlab.py"))))
+    
+#--------------------------------------------------
+#                 Ethercat MASTER
+#--------------------------------------------------
+
+EtherCATConfigParser = GenerateParserFromXSD(os.path.join(os.path.dirname(__file__), "EtherCATConfig.xsd")) 
+
+def sort_commands(x, y):
+    if x["Index"] == y["Index"]:
+        return cmp(x["Subindex"], y["Subindex"])
+    return cmp(x["Index"], y["Index"])
+
+cls = EtherCATConfigParser.GetElementClass("Slave", "Config")
+if cls:
+    
+    def getType(self):
+        slave_info = self.getInfo()
+        return {"device_type": slave_info.getName(),
+                "vendor": GenerateHexDecValue(slave_info.getVendorId()),
+                "product_code": GenerateHexDecValue(slave_info.getProductCode(), 16),
+                "revision_number": GenerateHexDecValue(slave_info.getRevisionNo(), 16)}
+    setattr(cls, "getType", getType)
+
+    def setType(self, type_infos):
+        slave_info = self.getInfo()
+        slave_info.setName(type_infos["device_type"])
+        slave_info.setVendorId(ExtractHexDecValue(type_infos["vendor"]))
+        slave_info.setProductCode(ExtractHexDecValue(type_infos["product_code"]))
+        slave_info.setRevisionNo(ExtractHexDecValue(type_infos["revision_number"]))
+    setattr(cls, "setType", setType)
+    
+    def getInitCmds(self, create_default=False):
+        Mailbox = self.getMailbox()
+        if Mailbox is None:
+            if create_default:
+                self.addMailbox()
+                Mailbox = self.getMailbox()
+            else:
+                return None
+        CoE = Mailbox.getCoE()
+        if CoE is None:
+            if create_default:
+                Mailbox.addCoE()
+                CoE = Mailbox.getCoE()
+            else:
+                return None
+        InitCmds = CoE.getInitCmds()
+        if InitCmds is None and create_default:
+            CoE.addInitCmds()
+            InitCmds = CoE.getInitCmds()
+        return InitCmds
+    setattr(cls, "getInitCmds", getInitCmds)
+    
+    def getStartupCommands(self):
+        pos = self.getInfo().getPhysAddr()
+        InitCmds = self.getInitCmds()
+        if InitCmds is None:
+            return []
+        commands = []
+        for idx, InitCmd in enumerate(InitCmds.getInitCmd()):
+            comment = InitCmd.getComment()
+            if comment is None:
+                comment = ""
+            commands.append({
+                "command_idx": idx,
+                "Position": pos,
+                "Index": InitCmd.getIndex(),
+                "Subindex": InitCmd.getSubIndex(),
+                "Value": InitCmd.getData(),
+                "Description": comment})
+        commands.sort(sort_commands)
+        return commands
+    setattr(cls, "getStartupCommands", getStartupCommands)
+    
+    def appendStartupCommand(self, command_infos):
+        InitCmds = self.getInitCmds(True)
+        command = EtherCATConfigParser.CreateElement("InitCmd", "InitCmds", 1)
+        InitCmds.appendInitCmd(command)
+        command.setIndex(command_infos["Index"])
+        command.setSubIndex(command_infos["Subindex"])
+        command.setData(command_infos["Value"])
+        command.setComment(command_infos["Description"])
+        return len(InitCmds.getInitCmd()) - 1
+    setattr(cls, "appendStartupCommand", appendStartupCommand)
+    
+    def setStartupCommand(self, command_infos):
+        InitCmds = self.getInitCmds()
+        if InitCmds is not None:
+            commands = InitCmds.getInitCmd()
+            if command_infos["command_idx"] < len(commands):
+                command = commands[command_infos["command_idx"]]
+                command.setIndex(command_infos["Index"])
+                command.setSubIndex(command_infos["Subindex"])
+                command.setData(command_infos["Value"])
+                command.setComment(command_infos["Description"])
+    setattr(cls, "setStartupCommand", setStartupCommand)
+    
+    def removeStartupCommand(self, command_idx):
+        InitCmds = self.getInitCmds()
+        if InitCmds is not None:
+            if command_idx < len(InitCmds.getInitCmd()):
+                InitCmds.removeInitCmd(command_idx)
+    setattr(cls, "removeStartupCommand", removeStartupCommand)
+
+ProcessVariablesXSD = """<?xml version="1.0" encoding="ISO-8859-1" ?>
+    <xsd:schema xmlns:xsd="http://www.w3.org/2001/XMLSchema">
+      <xsd:element name="ProcessVariables">
+        <xsd:complexType>
+          <xsd:sequence>
+            <xsd:element name="variable" minOccurs="0" maxOccurs="unbounded">
+              <xsd:complexType>
+                <xsd:sequence>
+                  <xsd:element name="ReadFrom" type="LocationDesc" minOccurs="0"/>
+                  <xsd:element name="WriteTo" type="LocationDesc" minOccurs="0"/>
+                </xsd:sequence>
+                <xsd:attribute name="Name" type="xsd:string" use="required"/>
+                <xsd:attribute name="Comment" type="xsd:string" use="required"/>
+              </xsd:complexType>
+            </xsd:element>
+          </xsd:sequence>
+        </xsd:complexType>
+      </xsd:element>
+      <xsd:complexType name="LocationDesc">
+        <xsd:attribute name="Position" type="xsd:integer" use="required"/>
+        <xsd:attribute name="Index" type="xsd:integer" use="required"/>
+        <xsd:attribute name="SubIndex" type="xsd:integer" use="required"/>
+      </xsd:complexType>
+    </xsd:schema>
+"""
+
+ProcessVariablesParser = GenerateParserFromXSDstring(ProcessVariablesXSD) 
+
+class _EthercatCTN:
+
+    CTNChildrenTypes = [("EthercatSlave", _EthercatSlaveCTN, "Ethercat Slave")]
+    if HAS_MCL:
+        CTNChildrenTypes.append(("EthercatCIA402Slave", _EthercatCIA402SlaveCTN, "Ethercat CIA402 Slave"))
+    EditorType = MasterEditor
+    
+    def __init__(self):
+        config_filepath = self.ConfigFileName()
+        config_is_saved = False
+        self.Config = None
+        if os.path.isfile(config_filepath):
+            config_xmlfile = open(config_filepath, 'r')
+            try:
+                self.Config, error = \
+                    EtherCATConfigParser.LoadXMLString(config_xmlfile.read())
+                if error is None:
+                    config_is_saved = True
+            except Exception, e:
+                error = e.message
+            config_xmlfile.close()
+            
+            if error is not None:
+                self.GetCTRoot().logger.write_error(
+                    _("Couldn't load %s network configuration file.") % CTNName)    
+            
+        if self.Config is None:
+            self.Config = EtherCATConfigParser.CreateElement("EtherCATConfig")
+        
+        process_filepath = self.ProcessVariablesFileName()
+        process_is_saved = False
+        self.ProcessVariables = None
+        if os.path.isfile(process_filepath):
+            process_xmlfile = open(process_filepath, 'r')
+            try:
+                self.ProcessVariables, error = \
+                    ProcessVariablesParser.LoadXMLString(process_xmlfile.read())
+                if error is None:
+                    process_is_saved = True
+            except Exception, e:
+                error = e.message
+            process_xmlfile.close()
+            
+            if error is not None:
+                self.GetCTRoot().logger.write_error(
+                    _("Couldn't load %s network process variables file.") % CTNName)    
+            
+        if self.ProcessVariables is None:
+            self.ProcessVariables = ProcessVariablesParser.CreateElement("ProcessVariables")
+        
+        if config_is_saved and process_is_saved:
+            self.CreateBuffer(True)
+        else:
+            self.CreateBuffer(False)
+            self.OnCTNSave()
+         
+        # ----------- call ethercat mng. function --------------
+        self.CommonMethod = _CommonSlave(self)
+    
+    def GetIconName(self):
+        return "Ethercat"
+    
+    def GetContextualMenuItems(self):
+        return [("Add Ethercat Slave", "Add Ethercat Slave to Master", self.OnAddEthercatSlave)]
+    
+    def OnAddEthercatSlave(self, event):
+        app_frame = self.GetCTRoot().AppFrame
+        dialog = BrowseValuesLibraryDialog(app_frame, 
+            "Ethercat Slave Type", self.GetSlaveTypesLibrary())
+        if dialog.ShowModal() == wx.ID_OK:
+            type_infos = dialog.GetValueInfos()
+            device, module_extra_params = self.GetModuleInfos(type_infos)
+            if device is not None:
+                if HAS_MCL and _EthercatCIA402SlaveCTN.NODE_PROFILE in device.GetProfileNumbers():
+                    ConfNodeType = "EthercatCIA402Slave"
+                else:
+                    ConfNodeType = "EthercatSlave"
+                new_child = self.CTNAddChild("%s_0" % ConfNodeType, ConfNodeType)
+                new_child.SetParamsAttribute("SlaveParams.Type", type_infos)
+                self.CTNRequestSave()
+                new_child._OpenView()
+                app_frame._Refresh(TITLE, FILEMENU, PROJECTTREE)
+        dialog.Destroy()
+    
+    def ExtractHexDecValue(self, value):
+        return ExtractHexDecValue(value)
+
+    def GetSizeOfType(self, type):
+        return TYPECONVERSION.get(self.GetCTRoot().GetBaseType(type), None)
+
+    def ConfigFileName(self):
+        return os.path.join(self.CTNPath(), "config.xml")
+    
+    def ProcessVariablesFileName(self):
+        return os.path.join(self.CTNPath(), "process_variables.xml")
+    
+    def FilterSlave(self, slave, vendor=None, slave_pos=None, slave_profile=None):
+        if slave_pos is not None and slave.getInfo().getPhysAddr() != slave_pos:
+            return False
+        type_infos = slave.getType()
+        if vendor is not None and ExtractHexDecValue(type_infos["vendor"]) != vendor:
+            return False
+        device, module_extra_params = self.GetModuleInfos(type_infos)
+        if slave_profile is not None and slave_profile not in device.GetProfileNumbers():
+            return False
+        return True
+
+    def GetSlaveName(self, slave_pos):
+        CTNChild = self.GetChildByIECLocation((slave_pos,))
+        if CTNChild is not None:
+            return CTNChild.CTNName()
+        return self.CTNName()
+
+    def GetSlaves(self, vendor=None, slave_pos=None, slave_profile=None):
+        slaves = []
+        for slave in self.Config.getConfig().getSlave():
+            if self.FilterSlave(slave, vendor, slave_pos, slave_profile):
+                slaves.append(slave.getInfo().getPhysAddr())
+        slaves.sort()
+        return slaves
+
+    def GetSlave(self, slave_pos):
+        for slave in self.Config.getConfig().getSlave():
+            slave_info = slave.getInfo()
+            if slave_info.getPhysAddr() == slave_pos:
+                return slave
+        return None
+
+    def GetStartupCommands(self, vendor=None, slave_pos=None, slave_profile=None):
+        commands = []
+        for slave in self.Config.getConfig().getSlave():
+            if self.FilterSlave(slave, vendor, slave_pos, slave_profile):
+                commands.append((slave.getInfo().getPhysAddr(), slave.getStartupCommands()))
+        commands.sort()
+        return reduce(lambda x, y: x + y[1], commands, [])
+    
+    def AppendStartupCommand(self, command_infos):
+        slave = self.GetSlave(command_infos["Position"])
+        if slave is not None:
+            command_idx = slave.appendStartupCommand(command_infos)
+            self.BufferModel()
+            return command_idx
+        return None
+    
+    def SetStartupCommandInfos(self, command_infos):
+        slave = self.GetSlave(command_infos["Position"])
+        if slave is not None:
+            slave.setStartupCommand(command_infos)
+            self.BufferModel()
+    
+    def RemoveStartupCommand(self, slave_pos, command_idx, buffer=True):
+        slave = self.GetSlave(slave_pos)
+        if slave is not None:
+            slave.removeStartupCommand(command_idx)
+            if buffer:
+                self.BufferModel()
+    
+    def SetProcessVariables(self, variables):
+        vars = []
+        for var in variables:
+            variable = ProcessVariablesParser.CreateElement("variable", "ProcessVariables")
+            variable.setName(var["Name"])
+            variable.setComment(var["Description"])
+            if var["ReadFrom"] != "":
+                position, index, subindex = var["ReadFrom"]
+                if variable.getReadFrom() is None:
+                    variable.addReadFrom()
+                read_from = variable.getReadFrom()
+                read_from.setPosition(position)
+                read_from.setIndex(index)
+                read_from.setSubIndex(subindex)
+            elif variable.getReadFrom() is not None:
+                variable.deleteReadFrom()
+            if var["WriteTo"] != "":
+                position, index, subindex = var["WriteTo"]
+                if variable.getWriteTo() is None:
+                    variable.addWriteTo()
+                write_to = variable.getWriteTo()
+                write_to.setPosition(position)
+                write_to.setIndex(index)
+                write_to.setSubIndex(subindex)
+            elif variable.getWriteTo() is not None:
+                variable.deleteWriteTo()
+            vars.append(variable)
+        self.ProcessVariables.setvariable(vars)
+        self.BufferModel()
+        
+    def GetProcessVariables(self):
+        variables = []
+        idx = 0
+        for variable in self.ProcessVariables.getvariable():
+            var = {"Name": variable.getName(),
+                   "Number": idx,
+                   "Description": variable.getComment()}
+            read_from = variable.getReadFrom()
+            if read_from is not None:
+                var["ReadFrom"] = (read_from.getPosition(),
+                                   read_from.getIndex(),
+                                   read_from.getSubIndex())
+            else:
+                var["ReadFrom"] = ""
+            write_to = variable.getWriteTo()
+            if write_to is not None:
+                var["WriteTo"] = (write_to.getPosition(),
+                                   write_to.getIndex(),
+                                   write_to.getSubIndex())
+            else:
+                var["WriteTo"] = ""
+            variables.append(var)
+            idx += 1
+        return variables
+    
+    def _ScanNetwork(self):
+        app_frame = self.GetCTRoot().AppFrame
+        
+        execute = True
+        if len(self.Children) > 0:
+            dialog = wx.MessageDialog(app_frame, 
+                _("The current network configuration will be deleted.\nDo you want to continue?"), 
+                _("Scan Network"), 
+                wx.YES_NO|wx.ICON_QUESTION)
+            execute = dialog.ShowModal() == wx.ID_YES
+            dialog.Destroy()
+        
+        if execute:
+            error, returnVal = self.RemoteExec(SCAN_COMMAND, returnVal = None)
+            if error != 0:
+                dialog = wx.MessageDialog(app_frame, returnVal, "Error", wx.OK|wx.ICON_ERROR)
+                dialog.ShowModal()
+                dialog.Destroy()
+            elif returnVal is not None:
+                for child in self.IECSortedChildren():
+                    self._doRemoveChild(child)
+                
+                for slave in returnVal:
+                    type_infos = {
+                        "vendor": slave["vendor_id"],
+                        "product_code": slave["product_code"],
+                        "revision_number":slave["revision_number"],
+                    }
+                    device, module_extra_params = self.GetModuleInfos(type_infos)
+                    if device is not None:
+                        if HAS_MCL and _EthercatCIA402SlaveCTN.NODE_PROFILE in device.GetProfileNumbers():
+                            CTNType = "EthercatCIA402Slave"
+                        else:
+                            CTNType = "EthercatSlave"
+                        self.CTNAddChild("slave%s" % slave["idx"], CTNType, slave["idx"])
+                        self.SetSlaveAlias(slave["idx"], slave["alias"])
+                        type_infos["device_type"] = device.getType().getcontent()
+                        self.SetSlaveType(slave["idx"], type_infos)
+            
+                if app_frame:
+                    app_frame.RefreshProjectTree()
+            
+    def CTNAddChild(self, CTNName, CTNType, IEC_Channel=0):
+        """
+        Create the confnodes that may be added as child to this node self
+        @param CTNType: string desining the confnode class name (get name from CTNChildrenTypes)
+        @param CTNName: string for the name of the confnode instance
+        """
+        newConfNodeOpj = ConfigTreeNode.CTNAddChild(self, CTNName, CTNType, IEC_Channel)
+        
+        slave = self.GetSlave(newConfNodeOpj.BaseParams.getIEC_Channel())
+        if slave is None:
+            slave = EtherCATConfigParser.CreateElement("Slave", "Config")
+            self.Config.getConfig().appendSlave(slave)
+            slave_infos = slave.getInfo()
+            slave_infos.setName("undefined")
+            slave_infos.setPhysAddr(newConfNodeOpj.BaseParams.getIEC_Channel())
+            slave_infos.setAutoIncAddr(0)
+            self.BufferModel()
+            self.OnCTNSave()
+        
+        return newConfNodeOpj
+
+    def _doRemoveChild(self, CTNInstance):
+        slave_pos = CTNInstance.GetSlavePos()
+        config = self.Config.getConfig()
+        for idx, slave in enumerate(config.getSlave()):
+            slave_infos = slave.getInfo()
+            if slave_infos.getPhysAddr() == slave_pos:
+                config.removeSlave(idx)
+                self.BufferModel()
+                self.OnCTNSave()
+        ConfigTreeNode._doRemoveChild(self, CTNInstance)
+
+    def SetSlavePosition(self, slave_pos, new_pos):
+        slave = self.GetSlave(slave_pos)
+        if slave is not None:
+            slave_info = slave.getInfo()
+            slave_info.setPhysAddr(new_pos)
+            for variable in self.ProcessVariables.getvariable():
+                read_from = variable.getReadFrom()
+                if read_from is not None and read_from.getPosition() == slave_pos:
+                    read_from.setPosition(new_pos)
+                write_to = variable.getWriteTo()
+                if write_to is not None and write_to.getPosition() == slave_pos:
+                    write_to.setPosition(new_pos)
+            self.CreateBuffer(True)
+            self.CTNRequestSave()
+            if self._View is not None:
+                self._View.RefreshView()
+                self._View.RefreshBuffer()
+    
+    def GetSlaveAlias(self, slave_pos):
+        slave = self.GetSlave(slave_pos)
+        if slave is not None:
+            slave_info = slave.getInfo()
+            return slave_info.getAutoIncAddr()
+        return None
+    
+    def SetSlaveAlias(self, slave_pos, alias):
+        slave = self.GetSlave(slave_pos)
+        if slave is not None:
+            slave_info = slave.getInfo()
+            slave_info.setAutoIncAddr(alias)
+            self.BufferModel()
+    
+    def GetSlaveType(self, slave_pos):
+        slave = self.GetSlave(slave_pos)
+        if slave is not None:
+            return slave.getType()
+        return None
+    
+    def SetSlaveType(self, slave_pos, type_infos):
+        slave = self.GetSlave(slave_pos)
+        if slave is not None:
+            slave.setType(type_infos)
+            self.BufferModel()
+    
+    def GetSlaveInfos(self, slave_pos):
+        slave = self.GetSlave(slave_pos)
+        if slave is not None:
+            type_infos = slave.getType()
+            device, module_extra_params = self.GetModuleInfos(type_infos)
+            if device is not None:
+                infos = type_infos.copy()
+                infos.update({"physics": device.getPhysics(),
+                              "sync_managers": device.GetSyncManagers(),
+                              "entries": self.GetSlaveVariables(device)})
+                return infos
+        return None
+    
+    def GetSlaveVariables(self, slave_pos=None, limits=None, device=None):
+        if device is None and slave_pos is not None:
+            slave = self.GetSlave(slave_pos)
+            if slave is not None:
+                type_infos = slave.getType()
+                device, module_extra_params = self.GetModuleInfos(type_infos)
+        if device is not None:
+            entries = device.GetEntriesList(limits)
+            #print entries
+            entries_list = entries.items()
+            entries_list.sort()
+            entries = []
+            current_index = None
+            current_entry = None
+            for (index, subindex), entry in entries_list:
+                entry["children"] = []
+                if slave_pos is not None:
+                    entry["Position"] = str(slave_pos)
+                entry
+                if index != current_index:
+                    current_index = index
+                    current_entry = entry
+                    entries.append(entry)
+                elif current_entry is not None:
+                    current_entry["children"].append(entry)
+                else:
+                    entries.append(entry)
+            return entries
+        return []
+    
+    def GetSlaveVariableDataType(self, slave_pos, index, subindex):
+        slave = self.GetSlave(slave_pos)
+        if slave is not None:
+            device, module_extra_params = self.GetModuleInfos(slave.getType())
+            if device is not None:
+                entries = device.GetEntriesList()
+                entry_infos = entries.get((index, subindex))
+                if entry_infos is not None:
+                    return entry_infos["Type"]
+        return None
+    
+    def GetNodesVariables(self, vendor=None, slave_pos=None, slave_profile=None, limits=None):
+        entries = []
+        for slave_position in self.GetSlaves():
+            if slave_pos is not None and slave_position != slave_pos:
+                continue
+            slave = self.GetSlave(slave_position)
+            type_infos = slave.getType()
+            if vendor is not None and ExtractHexDecValue(type_infos["vendor"]) != vendor:
+                continue
+            device, module_extra_params = self.GetModuleInfos(type_infos)
+            if slave_profile is not None and slave_profile not in device.GetProfileNumbers():
+                continue
+            entries.extend(self.GetSlaveVariables(slave_position, limits, device))
+        return entries
+     
+    def GetModuleInfos(self, type_infos):
+        return self.CTNParent.GetModuleInfos(type_infos)
+    
+    def GetSlaveTypesLibrary(self, profile_filter=None):
+        return self.CTNParent.GetModulesLibrary(profile_filter)
+    
+    def GetLibraryVendors(self):
+        return self.CTNParent.GetVendors()
+    
+    def GetDeviceLocationTree(self, slave_pos, current_location, device_name):
+        slave = self.GetSlave(slave_pos)
+        vars = []    
+        if slave is not None:
+            type_infos = slave.getType()
+        
+            device, module_extra_params = self.GetModuleInfos(type_infos)
+            if device is not None:
+                sync_managers = []
+                for sync_manager in device.getSm():
+                    sync_manager_control_byte = ExtractHexDecValue(sync_manager.getControlByte())
+                    sync_manager_direction = sync_manager_control_byte & 0x0c
+                    if sync_manager_direction:
+                        sync_managers.append(LOCATION_VAR_OUTPUT)
+                    else:
+                        sync_managers.append(LOCATION_VAR_INPUT)
+                
+                entries = device.GetEntriesList().items()
+                entries.sort()
+                for (index, subindex), entry in entries:
+                    var_size = self.GetSizeOfType(entry["Type"])
+                    if var_size is not None:
+                        var_class = VARCLASSCONVERSION.get(entry["PDOMapping"], None)
+                        if var_class is not None:
+                            if var_class == LOCATION_VAR_INPUT:
+                                var_dir = "%I"
+                            else:
+                                var_dir = "%Q"    
+                        
+                            vars.append({"name": "0x%4.4x-0x%2.2x: %s" % (index, subindex, entry["Name"]),
+                                         "type": var_class,
+                                         "size": var_size,
+                                         "IEC_type": entry["Type"],
+                                         "var_name": "%s_%4.4x_%2.2x" % ("_".join(device_name.split()), index, subindex),
+                                         "location": "%s%s%s"%(var_dir, var_size, ".".join(map(str, current_location + 
+                                                                                                    (index, subindex)))),
+                                         "description": "",
+                                         "children": []})
+        
+        return vars
+    
+    def CTNTestModified(self):
+        return self.ChangesToSave or not self.ModelIsSaved()    
+
+    def OnCTNSave(self, from_project_path=None):
+        config_filepath = self.ConfigFileName()
+        
+        config_xmlfile = open(config_filepath,"w")
+        config_xmlfile.write(etree.tostring(
+            self.Config, 
+            pretty_print=True, 
+            xml_declaration=True, 
+            encoding='utf-8'))
+        config_xmlfile.close()
+        
+        process_filepath = self.ProcessVariablesFileName()
+        
+        process_xmlfile = open(process_filepath,"w")
+        process_xmlfile.write(etree.tostring(
+            self.ProcessVariables, 
+            pretty_print=True, 
+            xml_declaration=True, 
+            encoding='utf-8'))
+        process_xmlfile.close()
+        
+        self.Buffer.CurrentSaved()
+        return True
+
+    def GetProcessVariableName(self, location, var_type):
+        return "__M%s_%s" % (self.GetSizeOfType(var_type), "_".join(map(str, location)))
+
+    def _Generate_C(self, buildpath, locations):
+        current_location = self.GetCurrentLocation()
+        # define a unique name for the generated C file
+        location_str = "_".join(map(lambda x:str(x), current_location))
+        
+        Gen_Ethercatfile_path = os.path.join(buildpath, "ethercat_%s.c"%location_str)
+        
+        self.FileGenerator = _EthercatCFileGenerator(self)
+        
+        LocationCFilesAndCFLAGS, LDFLAGS, extra_files = ConfigTreeNode._Generate_C(self, buildpath, locations)
+        
+        for idx, variable in enumerate(self.ProcessVariables.getvariable()):
+            name = None
+            var_type = None
+            read_from = variable.getReadFrom()
+            write_to = variable.getWriteTo()
+            if read_from is not None:
+                pos = read_from.getPosition()
+                index = read_from.getIndex()
+                subindex = read_from.getSubIndex()
+                location = current_location + (idx, )
+                var_type = self.GetSlaveVariableDataType(pos, index, subindex)
+                name = self.FileGenerator.DeclareVariable(
+                            pos, index, subindex, var_type, "I",
+                            self.GetProcessVariableName(location, var_type))
+            if write_to is not None:
+                pos = write_to.getPosition()
+                index = write_to.getIndex()
+                subindex = write_to.getSubIndex()
+                if name is None:
+                    location = current_location + (idx, )
+                    var_type = self.GetSlaveVariableDataType(pos, index, subindex)
+                    name = self.GetProcessVariableName(location, var_type)
+                self.FileGenerator.DeclareVariable(
+                            pos, index, subindex, var_type, "Q", name, True)
+        
+        self.FileGenerator.GenerateCFile(Gen_Ethercatfile_path, location_str, self.BaseParams.getIEC_Channel())
+        
+        LocationCFilesAndCFLAGS.insert(0, 
+            (current_location, 
+             [(Gen_Ethercatfile_path, '"-I%s"'%os.path.abspath(self.GetCTRoot().GetIECLibPath()))], 
+             True))
+        LDFLAGS.append("-lethercat_rtdm -lrtdm")
+        
+        return LocationCFilesAndCFLAGS, LDFLAGS, extra_files
+
+    ConfNodeMethods = [
+        {"bitmap" : "ScanNetwork",
+         "name" : _("Scan Network"), 
+         "tooltip" : _("Scan Network"),
+         "method" : "_ScanNetwork"},
+    ]
+
+    def CTNGenerate_C(self, buildpath, locations):
+        current_location = self.GetCurrentLocation()
+        
+        slaves = self.GetSlaves()
+        for slave_pos in slaves:
+            slave = self.GetSlave(slave_pos)
+            if slave is not None:
+                self.FileGenerator.DeclareSlave(slave_pos, slave)
+        
+        for location in locations:
+            loc = location["LOC"][len(current_location):]
+            slave_pos = loc[0]
+            if slave_pos in slaves and len(loc) == 3 and location["DIR"] != "M":
+                self.FileGenerator.DeclareVariable(
+                    slave_pos, loc[1], loc[2], location["IEC_TYPE"], location["DIR"], location["NAME"])
+        
+        return [],"",False
+        
+#-------------------------------------------------------------------------------
+#                      Current Buffering Management Functions
+#-------------------------------------------------------------------------------
+
+    """
+    Return a copy of the config
+    """
+    def Copy(self, model):
+        return deepcopy(model)
+    
+    def CreateBuffer(self, saved):
+        self.Buffer = UndoBuffer(
+            (EtherCATConfigParser.Dumps(self.Config), 
+             ProcessVariablesParser.Dumps(self.ProcessVariables)), 
+            saved)
+        
+    def BufferModel(self):
+        self.Buffer.Buffering(
+            (EtherCATConfigParser.Dumps(self.Config), 
+             ProcessVariablesParser.Dumps(self.ProcessVariables)))
+    
+    def ModelIsSaved(self):
+        if self.Buffer is not None:
+            return self.Buffer.IsCurrentSaved()
+        else:
+            return True
+
+    def LoadPrevious(self):
+        config, process_variables = self.Buffer.Previous()
+        self.Config = EtherCATConfigParser.Loads(config)
+        self.ProcessVariables = ProcessVariablesParser.Loads(process_variables)
+    
+    def LoadNext(self):
+        config, process_variables = self.Buffer.Next()
+        self.Config = EtherCATConfigParser.Loads(config)
+        self.ProcessVariables = ProcessVariablesParser.Loads(process_variables)
+    
+    def GetBufferState(self):
+        first = self.Buffer.IsFirst()
+        last = self.Buffer.IsLast()
+        return not first, not last
+
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/etherlab/EthercatSlave.py	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,159 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+# This file is part of Beremiz
+#
+# Copyright (C) 2011-2014: Laurent BESSARD, Edouard TISSERANT
+#                          RTES Lab : CRKim, JBLee, youcu
+#                          Higen Motor : Donggu Kang
+#
+# See COPYING file for copyrights details.
+
+import wx
+
+from PLCControler import LOCATION_CONFNODE, LOCATION_MODULE, LOCATION_GROUP, LOCATION_VAR_INPUT, LOCATION_VAR_OUTPUT, LOCATION_VAR_MEMORY
+from ConfigTreeNode import ConfigTreeNode
+
+from ConfigEditor import NodeEditor
+
+#------------------------------------------
+from CommonEtherCATFunction import _CommonSlave 
+#------------------------------------------
+
+
+TYPECONVERSION = {"BOOL" : "X", "SINT" : "B", "INT" : "W", "DINT" : "D", "LINT" : "L",
+    "USINT" : "B", "UINT" : "W", "UDINT" : "D", "ULINT" : "L", 
+    "BYTE" : "B", "WORD" : "W", "DWORD" : "D", "LWORD" : "L"}
+
+DATATYPECONVERSION = {"BOOL" : "BIT", "SINT" : "S8", "INT" : "S16", "DINT" : "S32", "LINT" : "S64",
+    "USINT" : "U8", "UINT" : "U16", "UDINT" : "U32", "ULINT" : "U64", 
+    "BYTE" : "U8", "WORD" : "U16", "DWORD" : "U32", "LWORD" : "U64"}
+
+VARCLASSCONVERSION = {"T": LOCATION_VAR_INPUT, "R": LOCATION_VAR_OUTPUT, "RT": LOCATION_VAR_MEMORY}
+
+def ExtractHexDecValue(value):
+    try:
+        return int(value)
+    except:
+        pass
+    try:
+        return int(value.replace("#", "0"), 16)
+    except:
+        raise ValueError, "Invalid value for HexDecValue \"%s\"" % value
+
+def GenerateHexDecValue(value, base=10):
+    if base == 10:
+        return str(value)
+    elif base == 16:
+        return "#x%.8x" % value
+    else:
+        raise ValueError, "Not supported base"
+
+def ExtractName(names, default=None):
+    if len(names) == 1:
+        return names[0].getcontent()
+    else:
+        for name in names:
+            if name.getLcId() == 1033:
+                return name.getcontent()
+    return default
+
+
+#--------------------------------------------------
+#                    Ethercat Node
+#--------------------------------------------------
+
+class _EthercatSlaveCTN:
+    NODE_PROFILE = None
+    EditorType = NodeEditor
+    
+    def __init__(self):
+        # ----------- call ethercat mng. function --------------
+        self.CommonMethod = _CommonSlave(self)
+    
+    def GetIconName(self):
+        return "Slave"
+    
+    def ExtractHexDecValue(self, value):
+        return ExtractHexDecValue(value)
+    
+    def GetSizeOfType(self, type):
+        return TYPECONVERSION.get(self.GetCTRoot().GetBaseType(type), None)
+    
+    def GetSlavePos(self):
+        return self.BaseParams.getIEC_Channel()
+    
+    def GetParamsAttributes(self, path = None):
+        if path:
+            parts = path.split(".", 1)
+            if self.MandatoryParams and parts[0] == self.MandatoryParams[0]:
+                return self.MandatoryParams[1].getElementInfos(parts[0], parts[1])
+            elif self.CTNParams and parts[0] == self.CTNParams[0]:
+                return self.CTNParams[1].getElementInfos(parts[0], parts[1])
+        else:
+            params = []
+            if self.CTNParams:
+                params.append(self.CTNParams[1].getElementInfos(self.CTNParams[0]))
+            else:
+                params.append({
+                    'use': 'required', 
+                    'type': 'element', 
+                    'name': 'SlaveParams', 
+                    'value': None, 
+                    'children': []
+                })
+            
+            slave_type = self.CTNParent.GetSlaveType(self.GetSlavePos())
+            params[0]['children'].insert(0,
+                   {'use': 'optional', 
+                    'type': self.CTNParent.GetSlaveTypesLibrary(self.NODE_PROFILE), 
+                    'name': 'Type', 
+                    'value': (slave_type["device_type"], slave_type)}) 
+            params[0]['children'].insert(1,
+                   {'use': 'optional', 
+                    'type': 'unsignedLong', 
+                    'name': 'Alias', 
+                    'value': self.CTNParent.GetSlaveAlias(self.GetSlavePos())})
+            return params
+        
+    def SetParamsAttribute(self, path, value):
+        self.GetSlaveInfos()
+        position = self.BaseParams.getIEC_Channel()
+        
+        if path == "SlaveParams.Type":
+            self.CTNParent.SetSlaveType(position, value)
+            slave_type = self.CTNParent.GetSlaveType(self.GetSlavePos())
+            value = (slave_type["device_type"], slave_type)
+            #if self._View is not None:
+                #wx.CallAfter(self._View.EtherCATManagementTreebook.SlaveStatePanel.RefreshSlaveInfos())
+                #self._View.EtherCATManagementTreebook.SlaveStatePanel.RefreshSlaveInfos()
+                #self._View.EtherCATManagementTreebook.PDOMonitoringPanel.PDOInfoUpdate()
+                #self._View.EtherCATManagementTreebook.SmartView.Create_SmartView()
+            return value, True
+        elif path == "SlaveParams.Alias":
+            self.CTNParent.SetSlaveAlias(position, value)
+            return value, True
+        
+        value, refresh = ConfigTreeNode.SetParamsAttribute(self, path, value)
+        
+        # Filter IEC_Channel, Slave_Type and Alias that have specific behavior
+        if path == "BaseParams.IEC_Channel" and value != position:
+            self.CTNParent.SetSlavePosition(position, value)
+        
+        return value, refresh
+        
+    def GetSlaveInfos(self):
+        return self.CTNParent.GetSlaveInfos(self.GetSlavePos())
+    
+    def GetSlaveVariables(self, limits):
+        return self.CTNParent.GetSlaveVariables(self.GetSlavePos(), limits)
+    
+    def GetVariableLocationTree(self):
+        return  {"name": self.BaseParams.getName(),
+                 "type": LOCATION_CONFNODE,
+                 "location": self.GetFullIEC_Channel(),
+                 "children": self.CTNParent.GetDeviceLocationTree(self.GetSlavePos(), self.GetCurrentLocation(), self.BaseParams.getName())
+        }
+
+    def CTNGenerate_C(self, buildpath, locations):
+        return [],"",False
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/etherlab/README	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,1 @@
+Ethercat
\ No newline at end of file
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/etherlab/__init__.py	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,1 @@
+from etherlab import *
\ No newline at end of file
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/etherlab/entries_list.xslt	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,1 @@
+<xsl:stylesheet xmlns:func="http://exslt.org/functions" xmlns:dyn="http://exslt.org/dynamic" xmlns:str="http://exslt.org/strings" xmlns:math="http://exslt.org/math" xmlns:exsl="http://exslt.org/common" extension-element-prefixes="ns" xmlns:yml="http://fdik.org/yml" xmlns:set="http://exslt.org/sets" version="1.0" xmlns:ns="entries_list_ns" exclude-result-prefixes="ns" xmlns:regexp="http://exslt.org/regular-expressions" xmlns:xsl="http://www.w3.org/1999/XSL/Transform"><xsl:output method="xml"/><xsl:variable name="space" select="'                                                                                                                                                                                                        '"/><xsl:param name="autoindent" select="4"/><xsl:param name="min_index"/><xsl:param name="max_index"/><xsl:template match="text()"><xsl:param name="_indent" select="0"/></xsl:template><xsl:template match="Device"><xsl:param name="_indent" select="0"/><xsl:apply-templates select="Profile/Dictionary/Objects/Object"><xsl:with-param name="_indent" select="$_indent + (1) * $autoindent"/></xsl:apply-templates><xsl:for-each select="RxPdo"><xsl:call-template name="pdo_entries"><xsl:with-param name="direction" select="'Receive'"/></xsl:call-template></xsl:for-each><xsl:for-each select="TxPdo"><xsl:call-template name="pdo_entries"><xsl:with-param name="direction" select="'Transmit'"/></xsl:call-template></xsl:for-each></xsl:template><xsl:template match="Object"><xsl:param name="_indent" select="0"/><xsl:variable name="index"><xsl:value-of select="ns:HexDecValue(Index/text())"/></xsl:variable><xsl:variable name="entry_name"><xsl:value-of select="ns:EntryName(Name)"/></xsl:variable><xsl:choose><xsl:when test="$index &gt;= $min_index and $index &lt;= $max_index"><xsl:variable name="datatype_name"><xsl:value-of select="Type/text()"/></xsl:variable><xsl:choose><xsl:when test="ancestor::Dictionary/child::DataTypes/DataType[Name/text()=$datatype_name][SubItem]"><xsl:apply-templates select="ancestor::Dictionary/child::DataTypes/DataType[Name/text()=$datatype_name][SubItem]"><xsl:with-param name="_indent" select="$_indent + (1) * $autoindent"/><xsl:with-param name="index"><xsl:value-of select="$index"/></xsl:with-param><xsl:with-param name="entry_name"><xsl:value-of select="$entry_name"/></xsl:with-param></xsl:apply-templates></xsl:when><xsl:otherwise><xsl:variable name="subindex"><xsl:text>0</xsl:text></xsl:variable><xsl:variable name="entry"><xsl:value-of select="ns:AddEntry($index, $subindex, $entry_name, $datatype_name, BitSize/text(), Flags/Access/text(), Flags/PdoMapping/text())"/></xsl:variable></xsl:otherwise></xsl:choose></xsl:when></xsl:choose></xsl:template><xsl:template match="DataType"><xsl:param name="_indent" select="0"/><xsl:param name="index"/><xsl:param name="entry_name"/><xsl:for-each select="SubItem"><xsl:variable name="subindex"><xsl:value-of select="ns:HexDecValue(SubIdx/text())"/></xsl:variable><xsl:variable name="subentry_name"><xsl:value-of select="$entry_name"/><xsl:text> - </xsl:text><xsl:value-of select="ns:EntryName(DisplayName, Name/text())"/></xsl:variable><xsl:variable name="entry"><xsl:value-of select="ns:AddEntry($index, $subindex, $subentry_name, Type/text(), BitSize/text(), Flags/Access/text(), Flags/PdoMapping/text())"/></xsl:variable></xsl:for-each></xsl:template><xsl:template name="pdo_entries"><xsl:param name="_indent" select="0"/><xsl:param name="direction"/><xsl:variable name="pdo_index"><xsl:value-of select="ns:HexDecValue(Index/text())"/></xsl:variable><xsl:variable name="pdo_name"><xsl:value-of select="ns:EntryName(Name)"/></xsl:variable><xsl:for-each select="Entry"><xsl:variable name="index"><xsl:value-of select="ns:HexDecValue(Index/text())"/></xsl:variable><xsl:choose><xsl:when test="$index &gt;= $min_index and $index &lt;= $max_index"><xsl:variable name="subindex"><xsl:value-of select="ns:HexDecValue(SubIndex/text())"/></xsl:variable><xsl:variable name="subentry_name"><xsl:value-of select="ns:EntryName(Name)"/></xsl:variable><xsl:variable name="access"><xsl:choose><xsl:when test="$direction='Transmit'"><xsl:text>ro</xsl:text></xsl:when><xsl:otherwise><xsl:text>wo</xsl:text></xsl:otherwise></xsl:choose></xsl:variable><xsl:variable name="pdo_mapping"><xsl:choose><xsl:when test="$direction='Transmit'"><xsl:text>T</xsl:text></xsl:when><xsl:otherwise><xsl:text>R</xsl:text></xsl:otherwise></xsl:choose></xsl:variable><xsl:variable name="entry"><xsl:value-of select="ns:AddEntry($index, $subindex, $subentry_name, DataType/text(), BitLen/text(), $access, $pdo_mapping, $pdo_index, $pdo_name, $direction)"/></xsl:variable></xsl:when></xsl:choose></xsl:for-each></xsl:template></xsl:stylesheet>
\ No newline at end of file
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/etherlab/entries_list.ysl2	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,100 @@
+/*
+
+Stylesheet used to list EtherCat dictionnary entries.
+
+Copyright (C) 2011-2014: Laurent BESSARD
+
+Distributed under the terms of the GNU Lesser General Public License as
+published by the Free Software Foundation; either version 2 of the License, or
+(at your option) any later version.
+
+See COPYING file for copyrights details.
+
+*/
+
+include yslt.yml2
+estylesheet xmlns:ns="entries_list_ns" 
+            extension-element-prefixes="ns" 
+            exclude-result-prefixes="ns" {
+    
+    param "min_index";
+    param "max_index";
+    
+    template "text()";
+    
+    template "Device" {
+        apply "Profile/Dictionary/Objects/Object";
+        foreach "RxPdo" {
+            call "pdo_entries" with "direction", "'Receive'";
+        }
+        foreach "TxPdo" {
+            call "pdo_entries" with "direction", "'Transmit'";
+        }
+    }
+    
+    template "Object" {
+        variable "index" > «ns:HexDecValue(Index/text())»
+        variable "entry_name" > «ns:EntryName(Name)»
+        choose {
+            when "$index >= $min_index and $index <= $max_index" {
+                variable "datatype_name" > «Type/text()»
+                choose {
+                    when "ancestor::Dictionary/child::DataTypes/DataType[Name/text()=$datatype_name][SubItem]" {
+                        apply "ancestor::Dictionary/child::DataTypes/DataType[Name/text()=$datatype_name][SubItem]" {
+                            with "index" > «$index»
+                            with "entry_name" > «$entry_name»
+                        }
+                    }
+                    otherwise {
+                        variable "subindex" > 0
+                        variable "entry" {
+                            > «ns:AddEntry($index, $subindex, $entry_name, $datatype_name, BitSize/text(), Flags/Access/text(), Flags/PdoMapping/text())»
+                        }
+                    }
+                }
+            }
+        }
+    }
+    
+    template "DataType" {
+        param "index";
+        param "entry_name";
+        foreach "SubItem" {
+            variable "subindex" > «ns:HexDecValue(SubIdx/text())»
+            variable "subentry_name" > «$entry_name» - «ns:EntryName(DisplayName, Name/text())»
+            variable "entry" {
+                > «ns:AddEntry($index, $subindex, $subentry_name, Type/text(), BitSize/text(), Flags/Access/text(), Flags/PdoMapping/text())»
+            }
+        }
+    }
+    
+    function "pdo_entries" {
+        param "direction";
+        variable "pdo_index" > «ns:HexDecValue(Index/text())»
+        variable "pdo_name" > «ns:EntryName(Name)»
+        foreach "Entry" {
+            variable "index" > «ns:HexDecValue(Index/text())»
+            choose {
+                when "$index >= $min_index and $index <= $max_index" {
+                    variable "subindex" > «ns:HexDecValue(SubIndex/text())»
+                    variable "subentry_name" > «ns:EntryName(Name)»
+                    variable "access" {
+                        choose {
+                            when "$direction='Transmit'" > ro
+                            otherwise > wo
+                        }
+                    }
+                    variable "pdo_mapping" {
+                        choose {
+                            when "$direction='Transmit'" > T
+                            otherwise > R
+                        }
+                    }
+                    variable "entry" {
+                        > «ns:AddEntry($index, $subindex, $subentry_name, DataType/text(), BitLen/text(), $access, $pdo_mapping, $pdo_index, $pdo_name, $direction)»
+                    }
+                }
+            }
+        }
+    }
+}
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/etherlab/etherlab.py	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,433 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+# This file is part of Beremiz
+#
+# Copyright (C) 2011-2014: Laurent BESSARD, Edouard TISSERANT
+#                          RTES Lab : CRKim, JBLee, youcu
+#                          Higen Motor : Donggu Kang
+#
+# See COPYING file for copyrights details.
+
+import os, shutil
+from lxml import etree
+
+import wx
+import csv
+
+from xmlclass import *
+
+from ConfigTreeNode import ConfigTreeNode, XSDSchemaErrorMessage
+from PLCControler import UndoBuffer, LOCATION_CONFNODE, LOCATION_MODULE, LOCATION_GROUP, LOCATION_VAR_INPUT, LOCATION_VAR_OUTPUT, LOCATION_VAR_MEMORY
+
+from EthercatSlave import ExtractHexDecValue, ExtractName
+from EthercatMaster import _EthercatCTN
+from ConfigEditor import LibraryEditor, ETHERCAT_VENDOR, ETHERCAT_GROUP, ETHERCAT_DEVICE
+
+ScriptDirectory = os.path.split(os.path.realpath(__file__))[0]
+
+#--------------------------------------------------
+#                 Ethercat ConfNode
+#--------------------------------------------------
+
+EtherCATInfoParser = GenerateParserFromXSD(os.path.join(os.path.dirname(__file__), "EtherCATInfo.xsd")) 
+EtherCATInfo_XPath = lambda xpath: etree.XPath(xpath)
+
+def HexDecValue(context, *args):
+    return str(ExtractHexDecValue(args[0][0]))
+
+def EntryName(context, *args):
+    return ExtractName(args[0], 
+        args[1][0] if len(args) > 1 else None)
+
+ENTRY_INFOS_KEYS = [
+    ("Index", lambda x: "#x%4.4X" % int(x), "#x0000"),
+    ("SubIndex", str, "0"),
+    ("Name", str, ""),
+    ("Type", str, ""),
+    ("BitSize", int, 0),
+    ("Access", str, ""),
+    ("PDOMapping", str, ""),
+    ("PDO index", str, ""),
+    ("PDO name", str, ""),
+    ("PDO type", str, "")]
+
+class EntryListFactory:
+
+    def __init__(self, entries):
+        self.Entries = entries
+    
+    def AddEntry(self, context, *args):
+        index, subindex = map(lambda x: int(x[0]), args[:2])
+        new_entry_infos = {
+            key: translate(arg[0]) if len(arg) > 0 else default
+            for (key, translate, default), arg
+            in zip(ENTRY_INFOS_KEYS, args)}
+        
+        if (index, subindex) != (0, 0):
+            entry_infos = self.Entries.get((index, subindex))
+            if entry_infos is not None:
+                for param in ["PDO index", "PDO name", "PDO type"]:
+                    value = new_entry_infos.get(param)
+                    if value is not None:
+                        entry_infos[param] = value
+            else:
+                self.Entries[(index, subindex)] = new_entry_infos
+
+entries_list_xslt = etree.parse(
+    os.path.join(ScriptDirectory, "entries_list.xslt"))
+
+cls = EtherCATInfoParser.GetElementClass("DeviceType")
+if cls:
+    
+    profile_numbers_xpath = EtherCATInfo_XPath("Profile/ProfileNo")
+    def GetProfileNumbers(self):
+        return [number.text for number in profile_numbers_xpath(self)]
+    setattr(cls, "GetProfileNumbers", GetProfileNumbers)
+    
+    def getCoE(self):
+        mailbox = self.getMailbox()
+        if mailbox is not None:
+            return mailbox.getCoE()
+        return None
+    setattr(cls, "getCoE", getCoE)
+
+    def GetEntriesList(self, limits=None):
+        entries = {}
+        
+        factory = EntryListFactory(entries)
+        
+        entries_list_xslt_tree = etree.XSLT(
+            entries_list_xslt, extensions = {
+                ("entries_list_ns", "AddEntry"): factory.AddEntry,
+                ("entries_list_ns", "HexDecValue"): HexDecValue,
+                ("entries_list_ns", "EntryName"): EntryName})
+        entries_list_xslt_tree(self, **dict(zip(
+            ["min_index", "max_index"], 
+            map(lambda x: etree.XSLT.strparam(str(x)),
+                limits if limits is not None else [0x0000, 0xFFFF])
+            )))
+        
+        return entries
+    setattr(cls, "GetEntriesList", GetEntriesList)
+
+    def GetSyncManagers(self):
+        sync_managers = []
+        for sync_manager in self.getSm():
+            sync_manager_infos = {}
+            for name, value in [("Name", sync_manager.getcontent()),
+                                ("Start Address", sync_manager.getStartAddress()),
+                                ("Default Size", sync_manager.getDefaultSize()),
+                                ("Control Byte", sync_manager.getControlByte()),
+                                ("Enable", sync_manager.getEnable())]:
+                if value is None:
+                    value =""
+                sync_manager_infos[name] = value
+            sync_managers.append(sync_manager_infos)
+        return sync_managers
+    setattr(cls, "GetSyncManagers", GetSyncManagers)
+
+def GroupItemCompare(x, y):
+    if x["type"] == y["type"]:
+        if x["type"] == ETHERCAT_GROUP:
+            return cmp(x["order"], y["order"])
+        else:
+            return cmp(x["name"], y["name"])
+    elif x["type"] == ETHERCAT_GROUP:
+        return -1
+    return 1
+
+def SortGroupItems(group):
+    for item in group["children"]:
+        if item["type"] == ETHERCAT_GROUP:
+            SortGroupItems(item)
+    group["children"].sort(GroupItemCompare)
+
+class ModulesLibrary:
+
+    MODULES_EXTRA_PARAMS = [
+        ("pdo_alignment", {
+            "column_label": _("PDO alignment"), 
+            "column_size": 150,
+            "default": 8,
+            "description": _(
+"Minimal size in bits between 2 pdo entries")}),
+        ("max_pdo_size", {
+            "column_label": _("Max entries by PDO"),
+            "column_size": 150,
+            "default": 255,
+            "description": _(
+"""Maximal number of entries mapped in a PDO
+including empty entries used for PDO alignment""")}),
+        ("add_pdo", {
+            "column_label": _("Creating new PDO"), 
+            "column_size": 150,
+            "default": 0,
+            "description": _(
+"""Adding a PDO not defined in default configuration
+for mapping needed location variables
+(1 if possible)""")})
+    ]
+    
+    def __init__(self, path, parent_library=None):
+        self.Path = path
+        if not os.path.exists(self.Path):
+            os.makedirs(self.Path)
+        self.ParentLibrary = parent_library
+        
+        if parent_library is not None:
+            self.LoadModules()
+        else:
+            self.Library = None
+        self.LoadModulesExtraParams()
+    
+    def GetPath(self):
+        return self.Path
+    
+    def GetModulesExtraParamsFilePath(self):
+        return os.path.join(self.Path, "modules_extra_params.cfg")
+    
+    groups_xpath = EtherCATInfo_XPath("Descriptions/Groups/Group")
+    devices_xpath = EtherCATInfo_XPath("Descriptions/Devices/Device")
+    def LoadModules(self):
+        self.Library = {}
+        
+        files = os.listdir(self.Path)
+        for file in files:
+            filepath = os.path.join(self.Path, file)
+            if os.path.isfile(filepath) and os.path.splitext(filepath)[-1] == ".xml":
+                self.modules_infos = None
+                
+                xmlfile = open(filepath, 'r')
+                try:
+                    self.modules_infos, error = EtherCATInfoParser.LoadXMLString(xmlfile.read())
+                    if error is not None:
+                        self.GetCTRoot().logger.write_warning(
+                            XSDSchemaErrorMessage % (filepath + error))
+                except Exception, exc:
+                    self.modules_infos, error = None, unicode(exc)
+                xmlfile.close()
+                
+                if self.modules_infos is not None:
+                    vendor = self.modules_infos.getVendor()
+                    
+                    vendor_category = self.Library.setdefault(
+                        ExtractHexDecValue(vendor.getId()), 
+                        {"name": ExtractName(vendor.getName(), _("Miscellaneous")), 
+                         "groups": {}})
+                    
+                    for group in self.groups_xpath(self.modules_infos):
+                        group_type = group.getType()
+                        
+                        vendor_category["groups"].setdefault(group_type, 
+                            {"name": ExtractName(group.getName(), group_type), 
+                             "parent": group.getParentGroup(),
+                             "order": group.getSortOrder(), 
+                             #"value": group.getcontent()["value"],
+                             "devices": []})
+                    
+                    for device in self.devices_xpath(self.modules_infos):
+                        device_group = device.getGroupType()
+                        if not vendor_category["groups"].has_key(device_group):
+                            raise ValueError, "Not such group \"%\"" % device_group
+                        vendor_category["groups"][device_group]["devices"].append(
+                            (device.getType().getcontent(), device))
+                
+                else:
+                        
+                    self.GetCTRoot().logger.write_error(
+                        _("Couldn't load %s XML file:\n%s") % (filepath, error))
+                
+        return self.Library
+
+    def GetModulesLibrary(self, profile_filter=None):
+        if self.Library is None:
+            self.LoadModules()
+        library = []
+        for vendor_id, vendor in self.Library.iteritems():
+            groups = []
+            children_dict = {}
+            for group_type, group in vendor["groups"].iteritems():
+                group_infos = {"name": group["name"],
+                               "order": group["order"],
+                               "type": ETHERCAT_GROUP,
+                               "infos": None,
+                               "children": children_dict.setdefault(group_type, [])}
+                device_dict = {}
+                for device_type, device in group["devices"]:
+                    if profile_filter is None or profile_filter in device.GetProfileNumbers():
+                        product_code = device.getType().getProductCode()
+                        revision_number = device.getType().getRevisionNo()
+                        module_infos = {"device_type": device_type,
+                                        "vendor": vendor_id,
+                                        "product_code": product_code,
+                                        "revision_number": revision_number}
+                        module_infos.update(self.GetModuleExtraParams(vendor_id, product_code, revision_number))
+                        device_infos = {"name": ExtractName(device.getName()),
+                                        "type": ETHERCAT_DEVICE,
+                                        "infos": module_infos,
+                                        "children": []}
+                        group_infos["children"].append(device_infos)
+                        device_type_occurrences = device_dict.setdefault(device_type, [])
+                        device_type_occurrences.append(device_infos)
+                for device_type_occurrences in device_dict.itervalues():
+                    if len(device_type_occurrences) > 1:
+                        for occurrence in device_type_occurrences:
+                            occurrence["name"] += _(" (rev. %s)") % occurrence["infos"]["revision_number"]
+                if len(group_infos["children"]) > 0:
+                    if group["parent"] is not None:
+                        parent_children = children_dict.setdefault(group["parent"], [])
+                        parent_children.append(group_infos)
+                    else:
+                        groups.append(group_infos)
+            if len(groups) > 0:
+                library.append({"name": vendor["name"],
+                                "type": ETHERCAT_VENDOR,
+                                "infos": None,
+                                "children": groups})
+        library.sort(lambda x, y: cmp(x["name"], y["name"]))
+        return library
+
+    def GetVendors(self):
+        return [(vendor_id, vendor["name"]) for vendor_id, vendor in self.Library.items()]
+    
+    def GetModuleInfos(self, module_infos):
+        vendor = ExtractHexDecValue(module_infos["vendor"])
+        vendor_infos = self.Library.get(vendor)
+        if vendor_infos is not None:
+            for group_name, group_infos in vendor_infos["groups"].iteritems():
+                for device_type, device_infos in group_infos["devices"]:
+                    product_code = ExtractHexDecValue(device_infos.getType().getProductCode())
+                    revision_number = ExtractHexDecValue(device_infos.getType().getRevisionNo())
+                    if (product_code == ExtractHexDecValue(module_infos["product_code"]) and
+                        revision_number == ExtractHexDecValue(module_infos["revision_number"])):
+                        self.cntdevice = device_infos 
+                        self.cntdeviceType = device_type  
+                        return device_infos, self.GetModuleExtraParams(vendor, product_code, revision_number)
+        return None, None
+    
+    def ImportModuleLibrary(self, filepath):
+        if os.path.isfile(filepath):
+            shutil.copy(filepath, self.Path)
+            self.LoadModules()
+            return True
+        return False
+    
+    def LoadModulesExtraParams(self):
+        self.ModulesExtraParams = {}
+        
+        csvfile_path = self.GetModulesExtraParamsFilePath()
+        if os.path.exists(csvfile_path):
+            csvfile = open(csvfile_path, "rb")
+            sample = csvfile.read(1024)
+            csvfile.seek(0)
+            dialect = csv.Sniffer().sniff(sample)
+            has_header = csv.Sniffer().has_header(sample)
+            reader = csv.reader(csvfile, dialect)
+            for row in reader:
+                if has_header:
+                    has_header = False
+                else:
+                    params_values = {}
+                    for (param, param_infos), value in zip(
+                        self.MODULES_EXTRA_PARAMS, row[3:]):
+                        if value != "":
+                            params_values[param] = int(value)
+                    self.ModulesExtraParams[
+                        tuple(map(int, row[:3]))] = params_values
+            csvfile.close()
+    
+    def SaveModulesExtraParams(self):
+        csvfile = open(self.GetModulesExtraParamsFilePath(), "wb")
+        extra_params = [param for param, params_infos in self.MODULES_EXTRA_PARAMS]
+        writer = csv.writer(csvfile, delimiter=';')
+        writer.writerow(['Vendor', 'product_code', 'revision_number'] + extra_params)
+        for (vendor, product_code, revision_number), module_extra_params in self.ModulesExtraParams.iteritems():
+            writer.writerow([vendor, product_code, revision_number] + 
+                            [module_extra_params.get(param, '') 
+                             for param in extra_params])
+        csvfile.close()
+    
+    def SetModuleExtraParam(self, vendor, product_code, revision_number, param, value):
+        vendor = ExtractHexDecValue(vendor)
+        product_code = ExtractHexDecValue(product_code)
+        revision_number = ExtractHexDecValue(revision_number)
+        
+        module_infos = (vendor, product_code, revision_number)
+        self.ModulesExtraParams.setdefault(module_infos, {})
+        self.ModulesExtraParams[module_infos][param] = value
+        
+        self.SaveModulesExtraParams()
+    
+    def GetModuleExtraParams(self, vendor, product_code, revision_number):
+        vendor = ExtractHexDecValue(vendor)
+        product_code = ExtractHexDecValue(product_code)
+        revision_number = ExtractHexDecValue(revision_number)
+        
+        if self.ParentLibrary is not None:
+            extra_params = self.ParentLibrary.GetModuleExtraParams(vendor, product_code, revision_number)
+        else:
+            extra_params = {}
+        
+        extra_params.update(self.ModulesExtraParams.get((vendor, product_code, revision_number), {}))
+        
+        for param, param_infos in self.MODULES_EXTRA_PARAMS:
+            extra_params.setdefault(param, param_infos["default"])
+        
+        return extra_params
+
+USERDATA_DIR = wx.StandardPaths.Get().GetUserDataDir()
+if wx.Platform != '__WXMSW__':
+    USERDATA_DIR += '_files'
+
+ModulesDatabase = ModulesLibrary(
+    os.path.join(USERDATA_DIR, "ethercat_modules"))
+
+class RootClass:
+    
+    CTNChildrenTypes = [("EthercatNode",_EthercatCTN,"Ethercat Master")]
+    EditorType = LibraryEditor
+       
+    
+    def __init__(self):
+        self.ModulesLibrary = None
+        self.LoadModulesLibrary()
+    
+    def GetIconName(self):
+        return "Ethercat"
+    
+    def GetModulesLibraryPath(self, project_path=None):
+        if project_path is None:
+            project_path = self.CTNPath()
+        return os.path.join(project_path, "modules") 
+    
+    def OnCTNSave(self, from_project_path=None):
+        if from_project_path is not None:
+            shutil.copytree(self.GetModulesLibraryPath(from_project_path),
+                            self.GetModulesLibraryPath())
+        return True
+    
+    def CTNGenerate_C(self, buildpath, locations):
+        return [],"",False
+    
+    def LoadModulesLibrary(self):
+        if self.ModulesLibrary is None:
+            self.ModulesLibrary = ModulesLibrary(self.GetModulesLibraryPath(), ModulesDatabase)
+        else:
+            self.ModulesLibrary.LoadModulesLibrary()
+    
+    def GetModulesDatabaseInstance(self):
+        return ModulesDatabase
+    
+    def GetModulesLibraryInstance(self):
+        return self.ModulesLibrary
+    
+    def GetModulesLibrary(self, profile_filter=None):
+        return self.ModulesLibrary.GetModulesLibrary(profile_filter)
+    
+    def GetVendors(self):
+        return self.ModulesLibrary.GetVendors()
+    
+    def GetModuleInfos(self, module_infos):
+        return self.ModulesLibrary.GetModuleInfos(module_infos)
+
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/etherlab/etherlab_ext.c	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,56 @@
+/*
+
+Template C code used to produce target Ethercat C code.
+
+Copyright (C) 2011-2014: Laurent BESSARD, Edouard TISSERANT
+
+Distributed under the terms of the GNU Lesser General Public License as
+published by the Free Software Foundation; either version 2 of the License, or
+(at your option) any later version.
+
+See COPYING file for copyrights details.
+
+*/
+
+#include "iec_types_all.h"
+
+#define FREE 0
+#define ACQUIRED 1
+#define ANSWERED 2
+
+long SDOLock = FREE;
+extern long AtomicCompareExchange(long* atomicvar,long compared, long exchange);
+
+int AcquireSDOLock() {
+	return AtomicCompareExchange(&SDOLock, FREE, ACQUIRED) == FREE;
+}
+
+void SDOAnswered() {
+	AtomicCompareExchange(&SDOLock, ACQUIRED, ANSWERED);
+}
+
+int HasAnswer() {
+	return SDOLock == ANSWERED;
+}
+
+void ReleaseSDOLock() {
+	AtomicCompareExchange(&SDOLock, ANSWERED, FREE);
+}
+
+int __init_etherlab_ext()
+{
+    SDOLock = FREE;
+    return 0;
+}
+
+void __cleanup_etherlab_ext()
+{
+}
+
+void __retrieve_etherlab_ext()
+{
+}
+
+void __publish_etherlab_ext()
+{
+}
Binary file etherlab/images/CIA402AxisRef.png has changed
Binary file etherlab/images/CIA402NetPos.png has changed
Binary file etherlab/images/CIA402Slave.png has changed
Binary file etherlab/images/Ethercat.png has changed
Binary file etherlab/images/ImportDatabase.png has changed
Binary file etherlab/images/ImportESI.png has changed
Binary file etherlab/images/ScanNetwork.png has changed
Binary file etherlab/images/Slave.png has changed
Binary file etherlab/images/editCIA402Slave.png has changed
Binary file etherlab/images/editSlave.png has changed
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/etherlab/images/genicons.sh	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,15 @@
+#!/bin/bash
+
+INKSCAPE=inkscape
+
+for i in `cat icons.svg |grep -o -e '%%[^%]*%%'|sed 's/%//g'` 
+do
+ if [ $i.png -nt icons.svg ]; then
+ 	echo "Skip $i"
+ else
+	rm  -f $i.png
+	echo "$INKSCAPE" icons.svg -z -e $i.png -i $i
+	"$INKSCAPE" icons.svg -z -e $i.png -i $i
+ fi
+done
+
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/etherlab/images/icons.svg	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,64538 @@
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+
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:xlink="http://www.w3.org/1999/xlink"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   version="1.0"
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+   id="svg2"
+   sodipodi:version="0.32"
+   inkscape:version="0.48.3.1 r9886"
+   sodipodi:docname="icons.svg"
+   inkscape:output_extension="org.inkscape.output.svg.inkscape">
+  <metadata
+     id="metadata13810">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title />
+      </cc:Work>
+    </rdf:RDF>
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--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/etherlab/plc_cia402node.c	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,193 @@
+/*
+
+Template C code used to produce target Ethercat C CIA402 code
+
+Copyright (C) 2011-2014: Laurent BESSARD, Edouard TISSERANT
+
+Distributed under the terms of the GNU Lesser General Public License as
+published by the Free Software Foundation; either version 2 of the License, or
+(at your option) any later version.
+
+See COPYING file for copyrights details.
+
+*/
+
+#include "ecrt.h"
+
+#include "beremiz.h"
+#include "iec_types_all.h"
+
+#include "accessor.h"
+#include "POUS.h"
+
+/* From CiA402, page 27
+
+        Table 30 - State coding
+    Statusword      |      PDS FSA state
+xxxx xxxx x0xx 0000 | Not ready to switch on
+xxxx xxxx x1xx 0000 | Switch on disabled
+xxxx xxxx x01x 0001 | Ready to switch on
+xxxx xxxx x01x 0011 | Switched on
+xxxx xxxx x01x 0111 | Operation enabled
+xxxx xxxx x00x 0111 | Quick stop active
+xxxx xxxx x0xx 1111 | Fault reaction active
+xxxx xxxx x0xx 1000 | Fault
+*/
+#define FSAFromStatusWord(SW) (SW & 0x006f)
+#define NotReadyToSwitchOn  0b00000000 FSA_sep 0b00100000
+#define SwitchOnDisabled    0b01000000 FSA_sep 0b01100000
+#define ReadyToSwitchOn     0b00100001
+#define SwitchedOn          0b00100011
+#define OperationEnabled    0b00100111
+#define QuickStopActive     0b00000111
+#define FaultReactionActive 0b00001111 FSA_sep 0b00101111
+#define Fault               0b00001000 FSA_sep 0b00101000
+
+// SatusWord bits :
+#define SW_ReadyToSwitchOn     0x0001
+#define SW_SwitchedOn          0x0002
+#define SW_OperationEnabled    0x0004
+#define SW_Fault               0x0008
+#define SW_VoltageEnabled      0x0010
+#define SW_QuickStop           0x0020
+#define SW_SwitchOnDisabled    0x0040
+#define SW_Warning             0x0080
+#define SW_Remote              0x0200
+#define SW_TargetReached       0x0400
+#define SW_InternalLimitActive 0x0800
+
+// ControlWord bits :
+#define SwitchOn        0x0001
+#define EnableVoltage   0x0002
+#define QuickStop       0x0004
+#define EnableOperation 0x0008
+#define FaultReset      0x0080
+#define Halt            0x0100
+
+
+IEC_INT beremiz__IW%(location_str)s = %(slave_pos)s;
+IEC_INT *__IW%(location_str)s = &beremiz__IW%(location_str)s;
+IEC_INT beremiz__IW%(location_str)s_402;
+IEC_INT *__IW%(location_str)s_402 = &beremiz__IW%(location_str)s_402;
+
+%(MCL_headers)s
+
+static IEC_BOOL __FirstTick = 1;
+
+typedef struct {
+%(entry_variables)s
+    axis_s* axis;
+} __CIA402Node;
+
+#define AxsPub __CIA402Node_%(location_str)s
+
+static __CIA402Node AxsPub;
+
+%(extern_located_variables_declaration)s
+
+%(fieldbus_interface_declaration)s
+
+int __init_%(location_str)s()
+{
+    __FirstTick = 1;
+%(init_entry_variables)s
+	*(AxsPub.ModesOfOperation) = 0x08;
+    return 0;
+}
+
+void __cleanup_%(location_str)s()
+{
+}
+
+void __retrieve_%(location_str)s()
+{
+	if (__FirstTick) {
+		*__IW%(location_str)s_402 = __MK_Alloc_AXIS_REF();
+		AxsPub.axis = 
+            __MK_GetPublic_AXIS_REF(*__IW%(location_str)s_402);
+		AxsPub.axis->NetworkPosition = beremiz__IW%(location_str)s;
+%(init_axis_params)s
+%(fieldbus_interface_definition)s
+		__FirstTick = 0;
+	}
+
+	// Default variables retrieve
+	AxsPub.axis->CommunicationReady = 
+        *(AxsPub.StatusWord) != 0;
+#define FSA_sep || FSA ==
+    {
+        uint16_t FSA = FSAFromStatusWord(*(AxsPub.StatusWord));
+        AxsPub.axis->ReadyForPowerOn = FSA == ReadyToSwitchOn;
+        AxsPub.axis->PowerFeedback = FSA == OperationEnabled;
+    }
+#undef FSA_sep 
+	AxsPub.axis->ActualRawPosition = *(AxsPub.ActualPosition);
+	AxsPub.axis->ActualRawVelocity = *(AxsPub.ActualVelocity);
+	AxsPub.axis->ActualRawTorque = *(AxsPub.ActualTorque);
+
+	// Extra variables retrieve
+%(extra_variables_retrieve)s
+}
+
+void __publish_%(location_str)s()
+{
+	IEC_BOOL power = 
+        ((*(AxsPub.StatusWord) & SW_VoltageEnabled) != 0) 
+        && AxsPub.axis->Power;
+    uint16_t CW = *(AxsPub.ControlWord);
+
+#define FSA_sep : case
+	// CIA402 node state transition computation
+	switch (FSAFromStatusWord(*(AxsPub.StatusWord))) {
+	    case SwitchOnDisabled :
+            CW &= ~(SwitchOn | FaultReset);
+            CW |= EnableVoltage | QuickStop;
+	    	break;
+	    case ReadyToSwitchOn :
+	    case OperationEnabled :
+	    	if (!power) {
+                CW &= ~(FaultReset | EnableOperation);
+                CW |= SwitchOn | EnableVoltage | QuickStop;
+	    		break;
+	    	}
+	    case SwitchedOn :
+	    	if (power) {
+                CW &= ~(FaultReset);
+                CW |= SwitchOn | EnableVoltage | QuickStop | EnableOperation;
+	    	}
+	    	break;
+	    case Fault :
+            /* TODO reset fault only when MC_Reset */
+            CW &= ~(SwitchOn | EnableVoltage | QuickStop | EnableOperation);
+            CW |= FaultReset;
+	    	break;
+	    default:
+	    	break;
+	}
+#undef FSA_sep 
+    *(AxsPub.ControlWord) = CW;
+
+	// CIA402 node modes of operation computation according to axis motion mode
+	switch (AxsPub.axis->AxisMotionMode) {
+		case mc_mode_cst:
+			*(AxsPub.ModesOfOperation) = 0x0a;
+			break;
+		case mc_mode_csv:
+			*(AxsPub.ModesOfOperation) = 0x09;
+			break;
+		default:
+			*(AxsPub.ModesOfOperation) = 0x08;
+			break;
+	}
+
+	// Default variables publish
+	*(AxsPub.TargetPosition) = 
+            AxsPub.axis->RawPositionSetPoint;
+	*(AxsPub.TargetVelocity) = 
+            AxsPub.axis->RawVelocitySetPoint;
+	*(AxsPub.TargetTorque) = 
+            AxsPub.axis->RawTorqueSetPoint;
+
+	// Extra variables publish
+%(extra_variables_publish)s
+}
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/etherlab/plc_etherlab.c	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,168 @@
+/*
+
+Template C code used to produce target Ethercat C code
+
+Copyright (C) 2011-2014: Laurent BESSARD, Edouard TISSERANT
+
+Distributed under the terms of the GNU Lesser General Public License as
+published by the Free Software Foundation; either version 2 of the License, or
+(at your option) any later version.
+
+See COPYING file for copyrights details.
+
+*/
+
+#include <rtdm/rtdm.h>
+#include <native/task.h>
+#include <native/timer.h>
+
+#include "ecrt.h"
+
+#include "beremiz.h"
+#include "iec_types_all.h"
+
+// declaration of interface variables
+%(located_variables_declaration)s
+
+// process data
+uint8_t *domain1_pd = NULL;
+%(used_pdo_entry_offset_variables_declaration)s
+
+const static ec_pdo_entry_reg_t domain1_regs[] = {
+%(used_pdo_entry_configuration)s
+    {}
+};
+/*****************************************************************************/
+
+%(pdos_configuration_declaration)s
+
+long long wait_period_ns = 100000LL;
+
+// EtherCAT
+static ec_master_t *master = NULL;
+static ec_domain_t *domain1 = NULL;
+static int first_sent=0;
+%(slaves_declaration)s
+#define SLOGF(level, format, args...)\
+{\
+    char sbuf[256];\
+    int slen = snprintf(sbuf , sizeof(sbuf) , format , ##args);\
+    LogMessage(level, sbuf, slen);\
+}
+
+/* Beremiz plugin functions */
+int __init_%(location)s(int argc,char **argv)
+{
+    uint32_t abort_code;
+    size_t result_size;
+    
+    abort_code = 0;
+    result_size = 0;
+
+    master = ecrt_request_master(%(master_number)d);
+    if (!master) {
+        SLOGF(LOG_CRITICAL, "EtherCAT master request failed!");
+        return -1;
+    }
+
+    if(!(domain1 = ecrt_master_create_domain(master))){
+        SLOGF(LOG_CRITICAL, "EtherCAT Domain Creation failed!");
+        goto ecat_failed;
+    }
+
+    // slaves PDO configuration
+%(slaves_configuration)s
+
+    if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
+        SLOGF(LOG_CRITICAL, "EtherCAT PDO registration failed!");
+        goto ecat_failed;
+    }
+
+    ecrt_master_set_send_interval(master, common_ticktime__);
+
+    // slaves initialization
+%(slaves_initialization)s
+
+    // extracting default value for not mapped entry in output PDOs
+%(slaves_output_pdos_default_values_extraction)s
+
+    if (ecrt_master_activate(master)){
+        SLOGF(LOG_CRITICAL, "EtherCAT Master activation failed");
+        goto ecat_failed;
+    }
+
+    if (!(domain1_pd = ecrt_domain_data(domain1))) {
+        SLOGF(LOG_CRITICAL, "Failed to map EtherCAT process data");
+        goto ecat_failed;
+    }
+
+    SLOGF(LOG_INFO, "Master %(master_number)d activated.");
+    
+    first_sent = 0;
+
+    return 0;
+
+ecat_failed:
+    ecrt_release_master(master);
+    return -1;
+
+}
+
+void __cleanup_%(location)s(void)
+{
+    //release master
+    ecrt_release_master(master);
+    first_sent = 0;
+}
+
+void __retrieve_%(location)s(void)
+{
+    // receive ethercat
+    if(first_sent){
+        ecrt_master_receive(master);
+        ecrt_domain_process(domain1);
+%(retrieve_variables)s
+    }
+
+}
+
+static RTIME _last_occur=0;
+static RTIME _last_publish=0;
+RTIME _current_lag=0;
+RTIME _max_jitter=0;
+static inline RTIME max(RTIME a,RTIME b){return a>b?a:b;}
+
+void __publish_%(location)s(void)
+{
+%(publish_variables)s
+    ecrt_domain_queue(domain1);
+    {
+        RTIME current_time = rt_timer_read();
+        // Limit spining max 1/5 of common_ticktime
+        RTIME maxdeadline = current_time + (common_ticktime__ / 5);
+        RTIME deadline = _last_occur ? 
+            _last_occur + common_ticktime__ : 
+            current_time + _max_jitter; 
+        if(deadline > maxdeadline) deadline = maxdeadline;
+        _current_lag = deadline - current_time;
+        if(_last_publish != 0){
+            RTIME period = current_time - _last_publish;
+            if(period > common_ticktime__ )
+                _max_jitter = max(_max_jitter, period - common_ticktime__);
+            else
+                _max_jitter = max(_max_jitter, common_ticktime__ - period);
+        }
+        _last_publish = current_time;
+        _last_occur = current_time;
+        while(current_time < deadline) {
+            _last_occur = current_time; //Drift backward by default
+            current_time = rt_timer_read();
+        }
+        if( _max_jitter * 10 < common_ticktime__ && _current_lag < _max_jitter){
+            //Consuming security margin ?
+            _last_occur = current_time; //Drift forward
+        }
+    }
+    ecrt_master_send(master);
+    first_sent = 1;
+}
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/etherlab/pous.xml	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,1311 @@
+<?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="EtherlabMaster"
+              productName="EtherlabMaster"
+              productVersion="1"
+              creationDateTime="2012-10-22T12:12:45"/>
+  <contentHeader name="EtherlabMaster SDO Blocks"
+                 modificationDateTime="2012-11-13T18:03:39">
+    <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="EtherLabSDOUpload" pouType="functionBlock">
+        <interface>
+          <inputVars>
+            <variable name="EXECUTE">
+              <type>
+                <BOOL/>
+              </type>
+            </variable>
+            <variable name="POS">
+              <type>
+                <INT/>
+              </type>
+            </variable>
+            <variable name="INDEX">
+              <type>
+                <UINT/>
+              </type>
+            </variable>
+            <variable name="SUBINDEX">
+              <type>
+                <USINT/>
+              </type>
+            </variable>
+            <variable name="VARTYPE">
+              <type>
+                <string/>
+              </type>
+            </variable>
+          </inputVars>
+          <outputVars>
+            <variable name="ACK">
+              <type>
+                <BOOL/>
+              </type>
+            </variable>
+            <variable name="VALID">
+              <type>
+                <BOOL/>
+              </type>
+            </variable>
+            <variable name="VALUE">
+              <type>
+                <string/>
+              </type>
+            </variable>
+          </outputVars>
+          <localVars>
+            <variable name="PY0">
+              <type>
+                <derived name="python_eval"/>
+              </type>
+            </variable>
+            <variable name="PY1">
+              <type>
+                <derived name="python_eval"/>
+              </type>
+            </variable>
+            <variable name="EXECUTE0">
+              <type>
+                <BOOL/>
+              </type>
+            </variable>
+            <variable name="STATE">
+              <type>
+                <INT/>
+              </type>
+              <initialValue>
+                <simpleValue value="0"/>
+              </initialValue>
+            </variable>
+          </localVars>
+        </interface>
+        <body>
+          <ST>
+<![CDATA[{extern int AcquireSDOLock();}
+{extern int HasAnswer();}
+{extern void ReleaseSDOLock();}
+CASE STATE OF
+  0:
+    IF EXECUTE AND NOT EXECUTE0 THEN
+      STATE := 1;
+      ACK := 0;
+      VALID := 0;
+      VALUE := 'None';
+    END_IF;
+  1:
+    {if (AcquireSDOLock()) __SET_VAR(data__->,STATE,, 2)}
+  2:
+    IF PY0.ACK THEN
+      STATE := 3;
+    END_IF;
+  3:
+    {if (HasAnswer()) __SET_VAR(data__->,STATE,, 4)}
+  4:
+    IF PY1.ACK THEN
+      ACK := 1;
+      VALUE := PY1.RESULT;
+      VALID := NE(VALUE, 'None');
+      STATE := 0;
+      {ReleaseSDOLock();}
+    END_IF;
+ELSE
+  STATE := 0;
+END_CASE;
+
+EXECUTE0 := EXECUTE;
+PY0(TRIG := STATE = 2, 
+    CODE := CONCAT('EthercatSDOUpload(',
+                   INT_TO_STRING(POS),
+                   ',',
+                   UINT_TO_STRING(INDEX),
+                   ',',
+                   USINT_TO_STRING(SUBINDEX),
+                   ',"',
+                   VARTYPE,
+                   '")'));
+PY1(TRIG := STATE = 4, 
+    CODE := 'GetResult()');
+]]>
+          </ST>
+        </body>
+      </pou>
+      <pou name="EtherLabSDODownload" pouType="functionBlock">
+        <interface>
+          <inputVars>
+            <variable name="EXECUTE">
+              <type>
+                <BOOL/>
+              </type>
+            </variable>
+            <variable name="POS">
+              <type>
+                <INT/>
+              </type>
+            </variable>
+            <variable name="INDEX">
+              <type>
+                <UINT/>
+              </type>
+            </variable>
+            <variable name="SUBINDEX">
+              <type>
+                <USINT/>
+              </type>
+            </variable>
+            <variable name="VARTYPE">
+              <type>
+                <string/>
+              </type>
+            </variable>
+            <variable name="VALUE">
+              <type>
+                <string/>
+              </type>
+            </variable>
+          </inputVars>
+          <outputVars>
+            <variable name="ACK">
+              <type>
+                <BOOL/>
+              </type>
+            </variable>
+            <variable name="ERROR">
+              <type>
+                <BOOL/>
+              </type>
+            </variable>
+          </outputVars>
+          <localVars>
+            <variable name="PY0">
+              <type>
+                <derived name="python_eval"/>
+              </type>
+            </variable>
+            <variable name="PY1">
+              <type>
+                <derived name="python_eval"/>
+              </type>
+            </variable>
+            <variable name="EXECUTE0">
+              <type>
+                <BOOL/>
+              </type>
+            </variable>
+            <variable name="STATE">
+              <type>
+                <INT/>
+              </type>
+              <initialValue>
+                <simpleValue value="0"/>
+              </initialValue>
+            </variable>
+          </localVars>
+        </interface>
+        <body>
+          <ST>
+<![CDATA[{extern int AcquireSDOLock();}
+{extern int HasAnswer();}
+{extern void ReleaseSDOLock();}
+CASE STATE OF
+  0:
+    IF EXECUTE AND NOT EXECUTE0 THEN
+      STATE := 1;
+      ACK := 0;
+      ERROR := 0;
+    END_IF;
+  1:
+    {if (AcquireSDOLock()) __SET_VAR(data__->,STATE,, 2)}
+  2:
+    IF PY0.ACK THEN
+      STATE := 3;
+    END_IF;
+  3:
+    {if (HasAnswer()) __SET_VAR(data__->,STATE,, 4)}
+  4:
+    IF PY1.ACK THEN
+      ACK := 1;
+      ERROR := EQ(PY1.RESULT, 'False');
+      STATE := 0;
+      {ReleaseSDOLock();}
+    END_IF;
+ELSE
+  STATE := 0;
+END_CASE;
+EXECUTE0 := EXECUTE;
+PY0(TRIG := STATE = 2, 
+    CODE := CONCAT('EthercatSDODownload(',
+                   INT_TO_STRING(POS),
+                   ',',
+                   UINT_TO_STRING(INDEX),
+                   ',',
+                   USINT_TO_STRING(SUBINDEX),
+                   ',"',
+                   VARTYPE,
+                   '",',
+                   VALUE,
+                   ')'));
+PY1(TRIG := STATE = 4, 
+    CODE := 'GetResult()');
+]]>
+          </ST>
+        </body>
+      </pou>
+      <pou name="EtherLabSetTorqueLimit" pouType="functionBlock">
+        <interface>
+          <inputVars>
+            <variable name="Pos">
+              <type>
+                <INT/>
+              </type>
+            </variable>
+            <variable name="Execute">
+              <type>
+                <BOOL/>
+              </type>
+            </variable>
+            <variable name="TorqueLimitPos">
+              <type>
+                <UINT/>
+              </type>
+            </variable>
+            <variable name="TorqueLimitNeg">
+              <type>
+                <UINT/>
+              </type>
+            </variable>
+          </inputVars>
+          <outputVars>
+            <variable name="Done">
+              <type>
+                <BOOL/>
+              </type>
+            </variable>
+            <variable name="Busy">
+              <type>
+                <BOOL/>
+              </type>
+            </variable>
+            <variable name="Error">
+              <type>
+                <BOOL/>
+              </type>
+            </variable>
+            <variable name="ErrorID">
+              <type>
+                <WORD/>
+              </type>
+            </variable>
+          </outputVars>
+          <localVars>
+            <variable name="EtherLabSDOUpload0">
+              <type>
+                <derived name="EtherLabSDODownload"/>
+              </type>
+            </variable>
+            <variable name="EtherLabSDOUpload1">
+              <type>
+                <derived name="EtherLabSDODownload"/>
+              </type>
+            </variable>
+            <variable name="RS0">
+              <type>
+                <derived name="RS"/>
+              </type>
+            </variable>
+          </localVars>
+        </interface>
+        <body>
+          <FBD>
+            <block localId="1" width="168" height="238" typeName="EtherLabSDODownload" instanceName="EtherLabSDOUpload0">
+              <position x="479" y="70"/>
+              <inputVariables>
+                <variable formalParameter="EXECUTE">
+                  <connectionPointIn>
+                    <relPosition x="0" y="38"/>
+                    <connection refLocalId="3">
+                      <position x="479" y="108"/>
+                      <position x="111" y="108"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="POS">
+                  <connectionPointIn>
+                    <relPosition x="0" y="74"/>
+                    <connection refLocalId="4">
+                      <position x="479" y="144"/>
+                      <position x="423" y="144"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="INDEX">
+                  <connectionPointIn>
+                    <relPosition x="0" y="110"/>
+                    <connection refLocalId="6">
+                      <position x="479" y="180"/>
+                      <position x="423" y="180"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="SUBINDEX">
+                  <connectionPointIn>
+                    <relPosition x="0" y="146"/>
+                    <connection refLocalId="8">
+                      <position x="479" y="216"/>
+                      <position x="423" y="216"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="VARTYPE">
+                  <connectionPointIn>
+                    <relPosition x="0" y="182"/>
+                    <connection refLocalId="10">
+                      <position x="479" y="252"/>
+                      <position x="423" y="252"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="VALUE">
+                  <connectionPointIn>
+                    <relPosition x="0" y="218"/>
+                    <connection refLocalId="25" formalParameter="OUT">
+                      <position x="479" y="288"/>
+                      <position x="450" y="288"/>
+                      <position x="450" y="306"/>
+                      <position x="422" y="306"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+              </inputVariables>
+              <inOutVariables/>
+              <outputVariables>
+                <variable formalParameter="ACK">
+                  <connectionPointOut>
+                    <relPosition x="168" y="38"/>
+                  </connectionPointOut>
+                </variable>
+                <variable formalParameter="ERROR">
+                  <connectionPointOut>
+                    <relPosition x="168" y="74"/>
+                  </connectionPointOut>
+                </variable>
+              </outputVariables>
+            </block>
+            <block localId="2" width="168" height="264" typeName="EtherLabSDODownload" instanceName="EtherLabSDOUpload1">
+              <position x="482" y="351"/>
+              <inputVariables>
+                <variable formalParameter="EXECUTE">
+                  <connectionPointIn>
+                    <relPosition x="0" y="40"/>
+                    <connection refLocalId="3">
+                      <position x="482" y="391"/>
+                      <position x="131" y="391"/>
+                      <position x="131" y="108"/>
+                      <position x="111" y="108"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="POS">
+                  <connectionPointIn>
+                    <relPosition x="0" y="80"/>
+                    <connection refLocalId="5">
+                      <position x="482" y="431"/>
+                      <position x="431" y="431"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="INDEX">
+                  <connectionPointIn>
+                    <relPosition x="0" y="120"/>
+                    <connection refLocalId="7">
+                      <position x="482" y="471"/>
+                      <position x="431" y="471"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="SUBINDEX">
+                  <connectionPointIn>
+                    <relPosition x="0" y="160"/>
+                    <connection refLocalId="9">
+                      <position x="482" y="511"/>
+                      <position x="430" y="511"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="VARTYPE">
+                  <connectionPointIn>
+                    <relPosition x="0" y="200"/>
+                    <connection refLocalId="11">
+                      <position x="482" y="551"/>
+                      <position x="431" y="551"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="VALUE">
+                  <connectionPointIn>
+                    <relPosition x="0" y="240"/>
+                    <connection refLocalId="12" formalParameter="OUT">
+                      <position x="482" y="591"/>
+                      <position x="456" y="591"/>
+                      <position x="456" y="610"/>
+                      <position x="431" y="610"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+              </inputVariables>
+              <inOutVariables/>
+              <outputVariables>
+                <variable formalParameter="ACK">
+                  <connectionPointOut>
+                    <relPosition x="168" y="40"/>
+                  </connectionPointOut>
+                </variable>
+                <variable formalParameter="ERROR">
+                  <connectionPointOut>
+                    <relPosition x="168" y="80"/>
+                  </connectionPointOut>
+                </variable>
+              </outputVariables>
+            </block>
+            <inVariable localId="3" height="27" width="63">
+              <position x="48" y="95"/>
+              <connectionPointOut>
+                <relPosition x="63" y="13"/>
+              </connectionPointOut>
+              <expression>Execute</expression>
+            </inVariable>
+            <inVariable localId="4" height="27" width="35">
+              <position x="388" y="131"/>
+              <connectionPointOut>
+                <relPosition x="35" y="13"/>
+              </connectionPointOut>
+              <expression>Pos</expression>
+            </inVariable>
+            <inVariable localId="5" height="27" width="35">
+              <position x="396" y="418"/>
+              <connectionPointOut>
+                <relPosition x="35" y="13"/>
+              </connectionPointOut>
+              <expression>Pos</expression>
+            </inVariable>
+            <inVariable localId="6" height="27" width="68">
+              <position x="355" y="167"/>
+              <connectionPointOut>
+                <relPosition x="68" y="13"/>
+              </connectionPointOut>
+              <expression>16#60E0</expression>
+            </inVariable>
+            <inVariable localId="7" height="27" width="68">
+              <position x="363" y="458"/>
+              <connectionPointOut>
+                <relPosition x="68" y="13"/>
+              </connectionPointOut>
+              <expression>16#60E1</expression>
+            </inVariable>
+            <inVariable localId="8" height="27" width="33">
+              <position x="390" y="203"/>
+              <connectionPointOut>
+                <relPosition x="33" y="13"/>
+              </connectionPointOut>
+              <expression>0</expression>
+            </inVariable>
+            <inVariable localId="9" height="27" width="33">
+              <position x="397" y="498"/>
+              <connectionPointOut>
+                <relPosition x="33" y="13"/>
+              </connectionPointOut>
+              <expression>0</expression>
+            </inVariable>
+            <inVariable localId="10" height="27" width="60">
+              <position x="363" y="239"/>
+              <connectionPointOut>
+                <relPosition x="60" y="13"/>
+              </connectionPointOut>
+              <expression>'uint16'</expression>
+            </inVariable>
+            <inVariable localId="11" height="27" width="60">
+              <position x="371" y="538"/>
+              <connectionPointOut>
+                <relPosition x="60" y="13"/>
+              </connectionPointOut>
+              <expression>'uint16'</expression>
+            </inVariable>
+            <block localId="16" width="67" height="98" typeName="AND">
+              <position x="763" y="69"/>
+              <inputVariables>
+                <variable formalParameter="IN1">
+                  <connectionPointIn>
+                    <relPosition x="0" y="39"/>
+                    <connection refLocalId="1" formalParameter="ACK">
+                      <position x="763" y="108"/>
+                      <position x="647" y="108"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="IN2">
+                  <connectionPointIn>
+                    <relPosition x="0" y="78"/>
+                    <connection refLocalId="2" formalParameter="ACK">
+                      <position x="763" y="147"/>
+                      <position x="707" y="147"/>
+                      <position x="707" y="391"/>
+                      <position x="650" y="391"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+              </inputVariables>
+              <inOutVariables/>
+              <outputVariables>
+                <variable formalParameter="OUT">
+                  <connectionPointOut>
+                    <relPosition x="67" y="39"/>
+                  </connectionPointOut>
+                </variable>
+              </outputVariables>
+            </block>
+            <outVariable localId="17" height="27" width="45">
+              <position x="941" y="95"/>
+              <connectionPointIn>
+                <relPosition x="0" y="13"/>
+                <connection refLocalId="16" formalParameter="OUT">
+                  <position x="941" y="108"/>
+                  <position x="830" y="108"/>
+                </connection>
+              </connectionPointIn>
+              <expression>Done</expression>
+            </outVariable>
+            <block localId="18" width="67" height="111" typeName="OR">
+              <position x="778" y="344"/>
+              <inputVariables>
+                <variable formalParameter="IN1">
+                  <connectionPointIn>
+                    <relPosition x="0" y="42"/>
+                    <connection refLocalId="1" formalParameter="ERROR">
+                      <position x="778" y="386"/>
+                      <position x="752" y="386"/>
+                      <position x="752" y="254"/>
+                      <position x="659" y="254"/>
+                      <position x="659" y="144"/>
+                      <position x="647" y="144"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="IN2">
+                  <connectionPointIn>
+                    <relPosition x="0" y="87"/>
+                    <connection refLocalId="2" formalParameter="ERROR">
+                      <position x="778" y="431"/>
+                      <position x="650" y="431"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+              </inputVariables>
+              <inOutVariables/>
+              <outputVariables>
+                <variable formalParameter="OUT">
+                  <connectionPointOut>
+                    <relPosition x="67" y="42"/>
+                  </connectionPointOut>
+                </variable>
+              </outputVariables>
+            </block>
+            <block localId="19" width="67" height="98" typeName="AND">
+              <position x="933" y="308"/>
+              <inputVariables>
+                <variable formalParameter="IN1">
+                  <connectionPointIn>
+                    <relPosition x="0" y="39"/>
+                    <connection refLocalId="16" formalParameter="OUT">
+                      <position x="933" y="347"/>
+                      <position x="886" y="347"/>
+                      <position x="886" y="108"/>
+                      <position x="830" y="108"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="IN2">
+                  <connectionPointIn>
+                    <relPosition x="0" y="78"/>
+                    <connection refLocalId="18" formalParameter="OUT">
+                      <position x="933" y="386"/>
+                      <position x="845" y="386"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+              </inputVariables>
+              <inOutVariables/>
+              <outputVariables>
+                <variable formalParameter="OUT">
+                  <connectionPointOut>
+                    <relPosition x="67" y="39"/>
+                  </connectionPointOut>
+                </variable>
+              </outputVariables>
+            </block>
+            <outVariable localId="20" height="27" width="45">
+              <position x="1037" y="334"/>
+              <connectionPointIn>
+                <relPosition x="0" y="13"/>
+                <connection refLocalId="19" formalParameter="OUT">
+                  <position x="1037" y="347"/>
+                  <position x="1000" y="347"/>
+                </connection>
+              </connectionPointIn>
+              <expression>Error</expression>
+            </outVariable>
+            <block localId="22" width="97" height="93" typeName="RS" instanceName="RS0">
+              <position x="854" y="498"/>
+              <inputVariables>
+                <variable formalParameter="S">
+                  <connectionPointIn>
+                    <relPosition x="0" y="38"/>
+                    <connection refLocalId="23">
+                      <position x="854" y="536"/>
+                      <position x="795" y="536"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="R1">
+                  <connectionPointIn>
+                    <relPosition x="0" y="74"/>
+                    <connection refLocalId="21">
+                      <position x="854" y="572"/>
+                      <position x="790" y="572"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+              </inputVariables>
+              <inOutVariables/>
+              <outputVariables>
+                <variable formalParameter="Q1">
+                  <connectionPointOut>
+                    <relPosition x="97" y="38"/>
+                  </connectionPointOut>
+                </variable>
+              </outputVariables>
+            </block>
+            <inVariable localId="21" height="27" width="45">
+              <position x="745" y="559"/>
+              <connectionPointOut>
+                <relPosition x="45" y="13"/>
+              </connectionPointOut>
+              <expression>Done</expression>
+            </inVariable>
+            <inVariable localId="23" height="27" width="63">
+              <position x="732" y="523"/>
+              <connectionPointOut>
+                <relPosition x="63" y="13"/>
+              </connectionPointOut>
+              <expression>Execute</expression>
+            </inVariable>
+            <outVariable localId="24" height="27" width="41">
+              <position x="1006" y="523"/>
+              <connectionPointIn>
+                <relPosition x="0" y="13"/>
+                <connection refLocalId="22" formalParameter="Q1">
+                  <position x="1006" y="536"/>
+                  <position x="951" y="536"/>
+                </connection>
+              </connectionPointIn>
+              <expression>Busy</expression>
+            </outVariable>
+            <block localId="25" width="126" height="40" typeName="UINT_TO_STRING">
+              <position x="296" y="276"/>
+              <inputVariables>
+                <variable formalParameter="IN">
+                  <connectionPointIn>
+                    <relPosition x="0" y="30"/>
+                    <connection refLocalId="14">
+                      <position x="296" y="306"/>
+                      <position x="262" y="306"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+              </inputVariables>
+              <inOutVariables/>
+              <outputVariables>
+                <variable formalParameter="OUT">
+                  <connectionPointOut>
+                    <relPosition x="126" y="30"/>
+                  </connectionPointOut>
+                </variable>
+              </outputVariables>
+            </block>
+            <inVariable localId="14" height="27" width="117">
+              <position x="145" y="293"/>
+              <connectionPointOut>
+                <relPosition x="117" y="13"/>
+              </connectionPointOut>
+              <expression>TorqueLimitPos</expression>
+            </inVariable>
+            <block localId="12" width="126" height="40" typeName="UINT_TO_STRING">
+              <position x="305" y="580"/>
+              <inputVariables>
+                <variable formalParameter="IN">
+                  <connectionPointIn>
+                    <relPosition x="0" y="30"/>
+                    <connection refLocalId="15">
+                      <position x="305" y="610"/>
+                      <position x="283" y="610"/>
+                      <position x="283" y="611"/>
+                      <position x="262" y="611"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+              </inputVariables>
+              <inOutVariables/>
+              <outputVariables>
+                <variable formalParameter="OUT">
+                  <connectionPointOut>
+                    <relPosition x="126" y="30"/>
+                  </connectionPointOut>
+                </variable>
+              </outputVariables>
+            </block>
+            <inVariable localId="15" height="27" width="119">
+              <position x="143" y="598"/>
+              <connectionPointOut>
+                <relPosition x="119" y="13"/>
+              </connectionPointOut>
+              <expression>TorqueLimitNeg</expression>
+            </inVariable>
+          </FBD>
+        </body>
+      </pou>
+      <pou name="EtherLabGetTorqueLimit" pouType="functionBlock">
+        <interface>
+          <inputVars>
+            <variable name="Pos">
+              <type>
+                <INT/>
+              </type>
+            </variable>
+            <variable name="Execute">
+              <type>
+                <BOOL/>
+              </type>
+            </variable>
+          </inputVars>
+          <outputVars>
+            <variable name="Done">
+              <type>
+                <BOOL/>
+              </type>
+            </variable>
+            <variable name="Busy">
+              <type>
+                <BOOL/>
+              </type>
+            </variable>
+            <variable name="Error">
+              <type>
+                <BOOL/>
+              </type>
+            </variable>
+            <variable name="ErrorID">
+              <type>
+                <WORD/>
+              </type>
+            </variable>
+            <variable name="TorqueLimitPos">
+              <type>
+                <UINT/>
+              </type>
+            </variable>
+            <variable name="TorqueLimitNeg">
+              <type>
+                <UINT/>
+              </type>
+            </variable>
+          </outputVars>
+          <localVars>
+            <variable name="EtherLabSDOUpload0">
+              <type>
+                <derived name="EtherLabSDOUpload"/>
+              </type>
+            </variable>
+            <variable name="EtherLabSDOUpload1">
+              <type>
+                <derived name="EtherLabSDOUpload"/>
+              </type>
+            </variable>
+            <variable name="RS0">
+              <type>
+                <derived name="RS"/>
+              </type>
+            </variable>
+          </localVars>
+        </interface>
+        <body>
+          <FBD>
+            <block localId="1" width="149" height="203" typeName="EtherLabSDOUpload" instanceName="EtherLabSDOUpload0">
+              <position x="283" y="70"/>
+              <inputVariables>
+                <variable formalParameter="EXECUTE">
+                  <connectionPointIn>
+                    <relPosition x="0" y="38"/>
+                    <connection refLocalId="3">
+                      <position x="283" y="108"/>
+                      <position x="111" y="108"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="POS">
+                  <connectionPointIn>
+                    <relPosition x="0" y="74"/>
+                    <connection refLocalId="4">
+                      <position x="283" y="144"/>
+                      <position x="219" y="144"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="INDEX">
+                  <connectionPointIn>
+                    <relPosition x="0" y="110"/>
+                    <connection refLocalId="6">
+                      <position x="283" y="180"/>
+                      <position x="219" y="180"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="SUBINDEX">
+                  <connectionPointIn>
+                    <relPosition x="0" y="146"/>
+                    <connection refLocalId="8">
+                      <position x="283" y="216"/>
+                      <position x="219" y="216"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="VARTYPE">
+                  <connectionPointIn>
+                    <relPosition x="0" y="182"/>
+                    <connection refLocalId="10">
+                      <position x="283" y="252"/>
+                      <position x="219" y="252"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+              </inputVariables>
+              <inOutVariables/>
+              <outputVariables>
+                <variable formalParameter="ACK">
+                  <connectionPointOut>
+                    <relPosition x="149" y="38"/>
+                  </connectionPointOut>
+                </variable>
+                <variable formalParameter="VALID">
+                  <connectionPointOut>
+                    <relPosition x="149" y="74"/>
+                  </connectionPointOut>
+                </variable>
+                <variable formalParameter="VALUE">
+                  <connectionPointOut>
+                    <relPosition x="149" y="110"/>
+                  </connectionPointOut>
+                </variable>
+              </outputVariables>
+            </block>
+            <block localId="2" width="149" height="228" typeName="EtherLabSDOUpload" instanceName="EtherLabSDOUpload1">
+              <position x="284" y="321"/>
+              <inputVariables>
+                <variable formalParameter="EXECUTE">
+                  <connectionPointIn>
+                    <relPosition x="0" y="40"/>
+                    <connection refLocalId="3">
+                      <position x="284" y="361"/>
+                      <position x="131" y="361"/>
+                      <position x="131" y="108"/>
+                      <position x="111" y="108"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="POS">
+                  <connectionPointIn>
+                    <relPosition x="0" y="81"/>
+                    <connection refLocalId="5">
+                      <position x="284" y="402"/>
+                      <position x="219" y="402"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="INDEX">
+                  <connectionPointIn>
+                    <relPosition x="0" y="122"/>
+                    <connection refLocalId="7">
+                      <position x="284" y="443"/>
+                      <position x="219" y="443"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="SUBINDEX">
+                  <connectionPointIn>
+                    <relPosition x="0" y="163"/>
+                    <connection refLocalId="9">
+                      <position x="284" y="484"/>
+                      <position x="219" y="484"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="VARTYPE">
+                  <connectionPointIn>
+                    <relPosition x="0" y="204"/>
+                    <connection refLocalId="11">
+                      <position x="284" y="525"/>
+                      <position x="219" y="525"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+              </inputVariables>
+              <inOutVariables/>
+              <outputVariables>
+                <variable formalParameter="ACK">
+                  <connectionPointOut>
+                    <relPosition x="149" y="40"/>
+                  </connectionPointOut>
+                </variable>
+                <variable formalParameter="VALID">
+                  <connectionPointOut>
+                    <relPosition x="149" y="81"/>
+                  </connectionPointOut>
+                </variable>
+                <variable formalParameter="VALUE">
+                  <connectionPointOut>
+                    <relPosition x="149" y="122"/>
+                  </connectionPointOut>
+                </variable>
+              </outputVariables>
+            </block>
+            <inVariable localId="3" height="27" width="63">
+              <position x="48" y="95"/>
+              <connectionPointOut>
+                <relPosition x="63" y="13"/>
+              </connectionPointOut>
+              <expression>Execute</expression>
+            </inVariable>
+            <inVariable localId="4" height="27" width="35">
+              <position x="184" y="131"/>
+              <connectionPointOut>
+                <relPosition x="35" y="13"/>
+              </connectionPointOut>
+              <expression>Pos</expression>
+            </inVariable>
+            <inVariable localId="5" height="27" width="35">
+              <position x="184" y="389"/>
+              <connectionPointOut>
+                <relPosition x="35" y="13"/>
+              </connectionPointOut>
+              <expression>Pos</expression>
+            </inVariable>
+            <inVariable localId="6" height="27" width="68">
+              <position x="151" y="167"/>
+              <connectionPointOut>
+                <relPosition x="68" y="13"/>
+              </connectionPointOut>
+              <expression>16#60E0</expression>
+            </inVariable>
+            <inVariable localId="7" height="27" width="68">
+              <position x="151" y="430"/>
+              <connectionPointOut>
+                <relPosition x="68" y="13"/>
+              </connectionPointOut>
+              <expression>16#60E1</expression>
+            </inVariable>
+            <inVariable localId="8" height="27" width="33">
+              <position x="186" y="203"/>
+              <connectionPointOut>
+                <relPosition x="33" y="13"/>
+              </connectionPointOut>
+              <expression>0</expression>
+            </inVariable>
+            <inVariable localId="9" height="27" width="33">
+              <position x="186" y="471"/>
+              <connectionPointOut>
+                <relPosition x="33" y="13"/>
+              </connectionPointOut>
+              <expression>0</expression>
+            </inVariable>
+            <inVariable localId="10" height="27" width="60">
+              <position x="159" y="239"/>
+              <connectionPointOut>
+                <relPosition x="60" y="13"/>
+              </connectionPointOut>
+              <expression>'uint16'</expression>
+            </inVariable>
+            <inVariable localId="11" height="27" width="60">
+              <position x="159" y="512"/>
+              <connectionPointOut>
+                <relPosition x="60" y="13"/>
+              </connectionPointOut>
+              <expression>'uint16'</expression>
+            </inVariable>
+            <block localId="12" width="126" height="40" typeName="STRING_TO_UINT">
+              <position x="492" y="150"/>
+              <inputVariables>
+                <variable formalParameter="IN">
+                  <connectionPointIn>
+                    <relPosition x="0" y="30"/>
+                    <connection refLocalId="1" formalParameter="VALUE">
+                      <position x="492" y="180"/>
+                      <position x="432" y="180"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+              </inputVariables>
+              <inOutVariables/>
+              <outputVariables>
+                <variable formalParameter="OUT">
+                  <connectionPointOut>
+                    <relPosition x="126" y="30"/>
+                  </connectionPointOut>
+                </variable>
+              </outputVariables>
+            </block>
+            <block localId="13" width="126" height="40" typeName="STRING_TO_UINT">
+              <position x="498" y="413"/>
+              <inputVariables>
+                <variable formalParameter="IN">
+                  <connectionPointIn>
+                    <relPosition x="0" y="30"/>
+                    <connection refLocalId="2" formalParameter="VALUE">
+                      <position x="498" y="443"/>
+                      <position x="433" y="443"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+              </inputVariables>
+              <inOutVariables/>
+              <outputVariables>
+                <variable formalParameter="OUT">
+                  <connectionPointOut>
+                    <relPosition x="126" y="30"/>
+                  </connectionPointOut>
+                </variable>
+              </outputVariables>
+            </block>
+            <outVariable localId="14" height="27" width="117">
+              <position x="673" y="167"/>
+              <connectionPointIn>
+                <relPosition x="0" y="13"/>
+                <connection refLocalId="12" formalParameter="OUT">
+                  <position x="673" y="180"/>
+                  <position x="618" y="180"/>
+                </connection>
+              </connectionPointIn>
+              <expression>TorqueLimitPos</expression>
+            </outVariable>
+            <outVariable localId="15" height="27" width="119">
+              <position x="679" y="430"/>
+              <connectionPointIn>
+                <relPosition x="0" y="13"/>
+                <connection refLocalId="13" formalParameter="OUT">
+                  <position x="679" y="443"/>
+                  <position x="624" y="443"/>
+                </connection>
+              </connectionPointIn>
+              <expression>TorqueLimitNeg</expression>
+            </outVariable>
+            <block localId="16" width="67" height="98" typeName="AND">
+              <position x="861" y="69"/>
+              <inputVariables>
+                <variable formalParameter="IN1">
+                  <connectionPointIn>
+                    <relPosition x="0" y="39"/>
+                    <connection refLocalId="1" formalParameter="ACK">
+                      <position x="861" y="108"/>
+                      <position x="432" y="108"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="IN2">
+                  <connectionPointIn>
+                    <relPosition x="0" y="78"/>
+                    <connection refLocalId="2" formalParameter="ACK">
+                      <position x="861" y="147"/>
+                      <position x="804" y="147"/>
+                      <position x="804" y="361"/>
+                      <position x="433" y="361"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+              </inputVariables>
+              <inOutVariables/>
+              <outputVariables>
+                <variable formalParameter="OUT">
+                  <connectionPointOut>
+                    <relPosition x="67" y="39"/>
+                  </connectionPointOut>
+                </variable>
+              </outputVariables>
+            </block>
+            <outVariable localId="17" height="27" width="45">
+              <position x="1009" y="95"/>
+              <connectionPointIn>
+                <relPosition x="0" y="13"/>
+                <connection refLocalId="16" formalParameter="OUT">
+                  <position x="1009" y="108"/>
+                  <position x="928" y="108"/>
+                </connection>
+              </connectionPointIn>
+              <expression>Done</expression>
+            </outVariable>
+            <block localId="18" width="67" height="111" typeName="OR">
+              <position x="862" y="315"/>
+              <inputVariables>
+                <variable formalParameter="IN1" negated="true">
+                  <connectionPointIn>
+                    <relPosition x="0" y="42"/>
+                    <connection refLocalId="1" formalParameter="VALID">
+                      <position x="862" y="357"/>
+                      <position x="839" y="357"/>
+                      <position x="839" y="254"/>
+                      <position x="469" y="254"/>
+                      <position x="469" y="144"/>
+                      <position x="432" y="144"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="IN2" negated="true">
+                  <connectionPointIn>
+                    <relPosition x="0" y="87"/>
+                    <connection refLocalId="2" formalParameter="VALID">
+                      <position x="862" y="402"/>
+                      <position x="433" y="402"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+              </inputVariables>
+              <inOutVariables/>
+              <outputVariables>
+                <variable formalParameter="OUT">
+                  <connectionPointOut>
+                    <relPosition x="67" y="42"/>
+                  </connectionPointOut>
+                </variable>
+              </outputVariables>
+            </block>
+            <block localId="19" width="67" height="98" typeName="AND">
+              <position x="989" y="279"/>
+              <inputVariables>
+                <variable formalParameter="IN1">
+                  <connectionPointIn>
+                    <relPosition x="0" y="39"/>
+                    <connection refLocalId="16" formalParameter="OUT">
+                      <position x="989" y="318"/>
+                      <position x="958" y="318"/>
+                      <position x="958" y="108"/>
+                      <position x="928" y="108"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="IN2">
+                  <connectionPointIn>
+                    <relPosition x="0" y="78"/>
+                    <connection refLocalId="18" formalParameter="OUT">
+                      <position x="989" y="357"/>
+                      <position x="929" y="357"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+              </inputVariables>
+              <inOutVariables/>
+              <outputVariables>
+                <variable formalParameter="OUT">
+                  <connectionPointOut>
+                    <relPosition x="67" y="39"/>
+                  </connectionPointOut>
+                </variable>
+              </outputVariables>
+            </block>
+            <outVariable localId="20" height="27" width="45">
+              <position x="1102" y="305"/>
+              <connectionPointIn>
+                <relPosition x="0" y="13"/>
+                <connection refLocalId="19" formalParameter="OUT">
+                  <position x="1102" y="318"/>
+                  <position x="1056" y="318"/>
+                </connection>
+              </connectionPointIn>
+              <expression>Error</expression>
+            </outVariable>
+            <block localId="22" width="97" height="93" typeName="RS" instanceName="RS0">
+              <position x="657" y="517"/>
+              <inputVariables>
+                <variable formalParameter="S">
+                  <connectionPointIn>
+                    <relPosition x="0" y="38"/>
+                    <connection refLocalId="23">
+                      <position x="657" y="555"/>
+                      <position x="600" y="555"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="R1">
+                  <connectionPointIn>
+                    <relPosition x="0" y="74"/>
+                    <connection refLocalId="21">
+                      <position x="657" y="591"/>
+                      <position x="599" y="591"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+              </inputVariables>
+              <inOutVariables/>
+              <outputVariables>
+                <variable formalParameter="Q1">
+                  <connectionPointOut>
+                    <relPosition x="97" y="38"/>
+                  </connectionPointOut>
+                </variable>
+              </outputVariables>
+            </block>
+            <inVariable localId="21" height="27" width="45">
+              <position x="554" y="578"/>
+              <connectionPointOut>
+                <relPosition x="45" y="13"/>
+              </connectionPointOut>
+              <expression>Done</expression>
+            </inVariable>
+            <inVariable localId="23" height="27" width="63">
+              <position x="537" y="542"/>
+              <connectionPointOut>
+                <relPosition x="63" y="13"/>
+              </connectionPointOut>
+              <expression>Execute</expression>
+            </inVariable>
+            <outVariable localId="24" height="27" width="41">
+              <position x="811" y="542"/>
+              <connectionPointIn>
+                <relPosition x="0" y="13"/>
+                <connection refLocalId="22" formalParameter="Q1">
+                  <position x="811" y="555"/>
+                  <position x="754" y="555"/>
+                </connection>
+              </connectionPointIn>
+              <expression>Busy</expression>
+            </outVariable>
+          </FBD>
+        </body>
+      </pou>
+    </pous>
+  </types>
+  <instances>
+    <configurations/>
+  </instances>
+</project>
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/etherlab/register_information.xml	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,7114 @@
+<?xml version="1.0" encoding="utf-8"?>
+<RegisterInfo>
+  <!--ESC Information-->
+  <Register>
+    <Index>0000</Index>
+    <Description>ESC Rev/Type</Description>
+    <Details>
+      <Detail>
+        <Range>0-7</Range>
+        <Description>Type</Description>
+        <Enum>
+          <item>
+            <value>00000010</value>
+            <Description>ESC10/ESC20</Description>
+          </item>
+          <item>
+            <value>00000100</value>
+            <Description>IP Core</Description>
+          </item>
+          <item>
+            <value>00010001</value>
+            <Description>ET1100</Description>
+          </item>
+          <item>
+            <value>00010010</value>
+            <Description>ET1200</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>8-15</Range>
+        <Description>Revision</Description>
+      </Detail>
+    </Details>
+  </Register>
+  <Register>
+    <Index>0002</Index>
+    <Description>ESC Build</Description>
+    <Details>
+      <Detail esc="04">
+        <Range>0-3</Range>
+        <Description>Maintenance version</Description>
+      </Detail>
+      <Detail esc="04">
+        <Range>4-7</Range>
+        <Description>Minor version</Description>
+      </Detail>
+    </Details>
+  </Register>
+  <Register>
+    <Index>0004</Index>
+    <Description>SM/FMMU Cnt</Description>
+    <Details>
+      <Detail>
+        <Range>0-7</Range>
+        <Description>FMMU cnt</Description>
+      </Detail>
+      <Detail>
+        <Range>8-15</Range>
+        <Description>SM cnt</Description>
+      </Detail>
+    </Details>
+  </Register>
+  <Register>
+    <Index>0006</Index>
+    <Description>Ports/DPRAM</Description>
+    <Details>
+      <Detail>
+        <Range>0-7</Range>
+        <Description>DPRAM (Kbyte)</Description>
+      </Detail>
+      <Detail>
+        <Range>8-9</Range>
+        <Description>Port A</Description>
+        <Enum>
+          <item>
+            <value>00</value>
+            <Description>Not implemented</Description>
+          </item>
+          <item>
+            <value>01</value>
+            <Description>Not configured (EEPROM)</Description>
+          </item>
+          <item>
+            <value>10</value>
+            <Description>EBUS</Description>
+          </item>
+          <item>
+            <value>11</value>
+            <Description>MII/RMII</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>10-11</Range>
+        <Description>Port B</Description>
+        <Enum>
+          <item>
+            <value>00</value>
+            <Description>Not implemented</Description>
+          </item>
+          <item>
+            <value>01</value>
+            <Description>Not configured (EEPROM)</Description>
+          </item>
+          <item>
+            <value>10</value>
+            <Description>EBUS</Description>
+          </item>
+          <item>
+            <value>11</value>
+            <Description>MII/RMII</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>12-13</Range>
+        <Description>Port C</Description>
+        <Enum>
+          <item>
+            <value>00</value>
+            <Description>Not implemented</Description>
+          </item>
+          <item>
+            <value>01</value>
+            <Description>Not configured (EEPROM)</Description>
+          </item>
+          <item>
+            <value>10</value>
+            <Description>EBUS</Description>
+          </item>
+          <item>
+            <value>11</value>
+            <Description>MII/RMII</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>14-15</Range>
+        <Description>Port D</Description>
+        <Enum>
+          <item>
+            <value>00</value>
+            <Description>Not implemented</Description>
+          </item>
+          <item>
+            <value>01</value>
+            <Description>Not configured (EEPROM)</Description>
+          </item>
+          <item>
+            <value>10</value>
+            <Description>EBUS</Description>
+          </item>
+          <item>
+            <value>11</value>
+            <Description>MII/RMII</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <Register>
+    <Index>0008</Index>
+    <Description>Features</Description>
+    <Details>
+      <Detail>
+        <Range>0</Range>
+        <Description>FMMU Operation</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Bit oriented</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Byte oriented</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>2</Range>
+        <Description>DC support</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>3</Range>
+        <Description>DC 64 bit support</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE
+</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>4</Range>
+        <Description>E-Bus low jitter</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>5</Range>
+        <Description>E-Bus ext. link detection</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>6</Range>
+        <Description>MII ext. link detection</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>7</Range>
+        <Description>Separate Handling of FCS Errors</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>8</Range>
+        <Description>DC SYNC ext. Activation</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>9</Range>
+        <Description>EtherCAT LRW cmd. support</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>10</Range>
+        <Description>EtherCAT R/W cmd. support</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>11</Range>
+        <Description>Fixed FMMU/SM Cfg.</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <!--Station Address-->
+  <Register>
+    <Index>0010</Index>
+    <Description>Phys Addr</Description>
+  </Register>
+  <Register>
+    <Index>0012</Index>
+    <Description>Configured Station Alias</Description>
+  </Register>
+  <!--Write Protection-->
+  <Register>
+    <Index>0020</Index>
+    <Description>Register Protect</Description>
+  </Register>
+  <Register>
+    <Index>0030</Index>
+    <Description>Access Protect</Description>
+  </Register>
+  <!--Data Link Layer-->
+  <Register>
+    <Index>0040</Index>
+    <Description>ESC Reset</Description>
+    <Details>
+      <Detail>
+        <Range>0-7</Range>
+        <Description>ESC reset ECAT</Description>
+      </Detail>
+      <Detail>
+        <Range>8-15</Range>
+        <Description>ESC reset PDI</Description>
+      </Detail>
+    </Details>
+  </Register>
+  <Register>
+    <Index>0100</Index>
+    <Description>ESC Ctrl</Description>
+    <Details>
+      <Detail>
+        <Range>0</Range>
+        <Description>Kill non EtherCATframes</Description>
+      </Detail>
+      <Detail>
+        <Range>1</Range>
+        <Description>Temporary loop control</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Permanent use</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Use for about 1 sec.</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>8-9</Range>
+        <Description>Port A</Description>
+        <Enum>
+          <item>
+            <value>00</value>
+            <Description>Auto loop</Description>
+          </item>
+          <item>
+            <value>01</value>
+            <Description>Auto close</Description>
+          </item>
+          <item>
+            <value>10</value>
+            <Description>Loop open</Description>
+          </item>
+          <item>
+            <value>11</value>
+            <Description>Loop closed</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>10-11</Range>
+        <Description>Port B</Description>
+        <Enum>
+          <item>
+            <value>00</value>
+            <Description>Auto loop</Description>
+          </item>
+          <item>
+            <value>01</value>
+            <Description>Auto close</Description>
+          </item>
+          <item>
+            <value>10</value>
+            <Description>Loop open</Description>
+          </item>
+          <item>
+            <value>11</value>
+            <Description>Loop closed</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>12-13</Range>
+        <Description>Port C</Description>
+        <Enum>
+          <item>
+            <value>00</value>
+            <Description>Auto loop</Description>
+          </item>
+          <item>
+            <value>01</value>
+            <Description>Auto close</Description>
+          </item>
+          <item>
+            <value>10</value>
+            <Description>Loop open</Description>
+          </item>
+          <item>
+            <value>11</value>
+            <Description>Loop closed</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>14-15</Range>
+        <Description>Port D</Description>
+        <Enum>
+          <item>
+            <value>00</value>
+            <Description>Auto loop</Description>
+          </item>
+          <item>
+            <value>01</value>
+            <Description>Auto close</Description>
+          </item>
+          <item>
+            <value>10</value>
+            <Description>Loop open</Description>
+          </item>
+          <item>
+            <value>11</value>
+            <Description>Loop closed</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <Register>
+    <Index>0102</Index>
+    <Description>ESC Ctrl Ext</Description>
+    <Details>
+      <Detail>
+        <Range>0-2</Range>
+        <Description>RX FIFO size</Description>
+      </Detail>
+      <Detail>
+        <Range>3</Range>
+        <Description>EBUS Low jitter</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Normal jitter</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Reducedjitter</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>6</Range>
+        <Description>EBUSremote link down signaling time</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Default</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Reduced</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>9</Range>
+        <Description>Station alias</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Ignore</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Available</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <Register>
+    <Index>0108</Index>
+    <Description>Phys. RW Offset</Description>
+  </Register>
+  <Register>
+    <Index>0110</Index>
+    <Description>ESC Status</Description>
+    <Details>
+      <Detail>
+        <Range>0</Range>
+        <Description>Operation</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>1</Range>
+        <Description>PDI watchdog</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>expired</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>reloaded</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>2</Range>
+        <Description>Enh. Link Detection</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Deactive</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Active</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>4</Range>
+        <Description>Physical link Port A</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>5</Range>
+        <Description>Physical link Port B</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>6</Range>
+        <Description>Physical link Port C</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>7</Range>
+        <Description>Physical link Port D</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>8-9</Range>
+        <Description>Port A</Description>
+        <Enum>
+          <item>
+            <value>00</value>
+            <Description>Loop Open, no link</Description>
+          </item>
+          <item>
+            <value>01</value>
+            <Description>Loop closed, no link</Description>
+          </item>
+          <item>
+            <value>10</value>
+            <Description>Loop open, with link</Description>
+          </item>
+          <item>
+            <value>11</value>
+            <Description>Loop closed, with link</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>10-11</Range>
+        <Description>Port B</Description>
+        <Enum>
+          <item>
+            <value>00</value>
+            <Description>Loop Open, no link</Description>
+          </item>
+          <item>
+            <value>01</value>
+            <Description>Loop closed, no link</Description>
+          </item>
+          <item>
+            <value>10</value>
+            <Description>Loop open, with link</Description>
+          </item>
+          <item>
+            <value>11</value>
+            <Description>Loop closed, with link</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>12-13</Range>
+        <Description>Port C</Description>
+        <Enum>
+          <item>
+            <value>00</value>
+            <Description>Loop Open, no link</Description>
+          </item>
+          <item>
+            <value>01</value>
+            <Description>Loop closed, no link</Description>
+          </item>
+          <item>
+            <value>10</value>
+            <Description>Loop open, with link</Description>
+          </item>
+          <item>
+            <value>11</value>
+            <Description>Loop closed, with link</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>14-15</Range>
+        <Description>Port D</Description>
+        <Enum>
+          <item>
+            <value>00</value>
+            <Description>Loop Open, no link</Description>
+          </item>
+          <item>
+            <value>01</value>
+            <Description>Loop closed, no link</Description>
+          </item>
+          <item>
+            <value>10</value>
+            <Description>Loop open, with link</Description>
+          </item>
+          <item>
+            <value>11</value>
+            <Description>Loop closed, with link</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <!--Application Layer-->
+  <Register>
+    <Index>0120</Index>
+    <Description>AL Ctrl</Description>
+    <Details>
+      <Detail>
+        <Range>0-3</Range>
+        <Description>AL Ctrl</Description>
+        <Enum>
+          <item>
+            <value>0000</value>
+            <Description>INIT</Description>
+          </item>
+          <item>
+            <value>0011</value>
+            <Description>Bootstrap</Description>
+          </item>
+          <item>
+            <value>0010</value>
+            <Description>PREOP</Description>
+          </item>
+          <item>
+            <value>0100</value>
+            <Description>SAFEOP</Description>
+          </item>
+          <item>
+            <value>1000</value>
+            <Description>OP</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>4</Range>
+        <Description>Error Ack</Description>
+      </Detail>
+      <Detail>
+        <Range>5</Range>
+        <Description>Device Identification</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>No request</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Device Identification request</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <Register>
+    <Index>0130</Index>
+    <Description>AL Status</Description>
+    <Details>
+      <Detail>
+        <Range>0-3</Range>
+        <Description>AL Status</Description>
+        <Enum>
+          <item>
+            <value>0000</value>
+            <Description>INIT</Description>
+          </item>
+          <item>
+            <value>0011</value>
+            <Description>Bootstrap</Description>
+          </item>
+          <item>
+            <value>0010</value>
+            <Description>PREOP</Description>
+          </item>
+          <item>
+            <value>0100</value>
+            <Description>SAFEOP</Description>
+          </item>
+          <item>
+            <value>1000</value>
+            <Description>OP</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>4</Range>
+        <Description>Error</Description>
+      </Detail>
+      <Detail>
+        <Range>5</Range>
+        <Description>Device Identification</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>not valid</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>loaded</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <Register>
+    <Index>0134</Index>
+    <Description>AL Status Code</Description>
+  </Register>
+  <Register>
+    <Index>0138</Index>
+    <Description>RUN/ERR LED Override</Description>
+    <Details>
+      <Detail esc="04">
+        <Range>0-3</Range>
+        <Description>RUN LED Code</Description>
+        <Enum>
+          <item>
+            <value>0000</value>
+            <Description>Off</Description>
+          </item>
+          <item>
+            <value>0001</value>
+            <Description>Flash 1x</Description>
+          </item>
+          <item>
+            <value>0010</value>
+            <Description>Flash 2x</Description>
+          </item>
+          <item>
+            <value>0011</value>
+            <Description>Flash 3x</Description>
+          </item>
+          <item>
+            <value>0100</value>
+            <Description>Flash 4x</Description>
+          </item>
+          <item>
+            <value>0101</value>
+            <Description>Flash 5x</Description>
+          </item>
+          <item>
+            <value>0110</value>
+            <Description>Flash 6x</Description>
+          </item>
+          <item>
+            <value>0111</value>
+            <Description>Flash 7x</Description>
+          </item>
+          <item>
+            <value>1000</value>
+            <Description>Flash 8x</Description>
+          </item>
+          <item>
+            <value>1001</value>
+            <Description>Flash 9x</Description>
+          </item>
+          <item>
+            <value>1010</value>
+            <Description>Flash 10x</Description>
+          </item>
+          <item>
+            <value>1011</value>
+            <Description>Flash 11x</Description>
+          </item>
+          <item>
+            <value>1100</value>
+            <Description>Flash 12x</Description>
+          </item>
+          <item>
+            <value>1101</value>
+            <Description>Blinking</Description>
+          </item>
+          <item>
+            <value>1110</value>
+            <Description>Flickering</Description>
+          </item>
+          <item>
+            <value>1111</value>
+            <Description>On</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail esc="04">
+        <Range>4</Range>
+        <Description>Enable RUN LED Override</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Disabled</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Enabled</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail esc="04">
+        <Range>8-11</Range>
+        <Description>ERR LED Code</Description>
+        <Enum>
+          <item>
+            <value>0000</value>
+            <Description>Off</Description>
+          </item>
+          <item>
+            <value>0001</value>
+            <Description>Flash 1x</Description>
+          </item>
+          <item>
+            <value>0010</value>
+            <Description>Flash 2x</Description>
+          </item>
+          <item>
+            <value>0011</value>
+            <Description>Flash 3x</Description>
+          </item>
+          <item>
+            <value>0100</value>
+            <Description>Flash 4x</Description>
+          </item>
+          <item>
+            <value>0101</value>
+            <Description>Flash 5x</Description>
+          </item>
+          <item>
+            <value>0110</value>
+            <Description>Flash 6x</Description>
+          </item>
+          <item>
+            <value>0111</value>
+            <Description>Flash 7x</Description>
+          </item>
+          <item>
+            <value>1000</value>
+            <Description>Flash 8x</Description>
+          </item>
+          <item>
+            <value>1001</value>
+            <Description>Flash 9x</Description>
+          </item>
+          <item>
+            <value>1010</value>
+            <Description>Flash 10x</Description>
+          </item>
+          <item>
+            <value>1011</value>
+            <Description>Flash 11x</Description>
+          </item>
+          <item>
+            <value>1100</value>
+            <Description>Flash 12x</Description>
+          </item>
+          <item>
+            <value>1101</value>
+            <Description>Blinking</Description>
+          </item>
+          <item>
+            <value>1110</value>
+            <Description>Flickering</Description>
+          </item>
+          <item>
+            <value>1111</value>
+            <Description>On</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail esc="04">
+        <Range>12</Range>
+        <Description>Enable ERR LED Override</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Disabled</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Enabled</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <!--PDI/ESC Configuration-->
+  <Register>
+    <Index>0140</Index>
+    <Description>PDI Ctrl</Description>
+    <Details>
+      <Detail>
+        <Range>0-7</Range>
+        <Description>PDI</Description>
+        <Enum>
+          <item>
+            <value>00000000</value>
+            <Description>none</Description>
+          </item>
+          <item>
+            <value>00000001</value>
+            <Description>4 Digital Input</Description>
+          </item>
+          <item>
+            <value>00000010</value>
+            <Description>4 Digital Output</Description>
+          </item>
+          <item>
+            <value>00000011</value>
+            <Description>2 DI and 2 DO</Description>
+          </item>
+          <item>
+            <value>00000100</value>
+            <Description>Digital I/O</Description>
+          </item>
+          <item>
+            <value>00000101</value>
+            <Description>SPI Slave</Description>
+          </item>
+          <item>
+            <value>00000110</value>
+            <Description>Oversampling I/O</Description>
+          </item>
+          <item>
+            <value>00000111</value>
+            <Description>EtherCAT Bridge (port3)</Description>
+          </item>
+          <item>
+            <value>00001000</value>
+            <Description>uC async. 16bit</Description>
+          </item>
+          <item>
+            <value>00001001</value>
+            <Description>uC async. 8bit</Description>
+          </item>
+          <item>
+            <value>00001010</value>
+            <Description>uC sync. 16bit</Description>
+          </item>
+          <item>
+            <value>00001011</value>
+            <Description>uC sync. 8bit</Description>
+          </item>
+          <item>
+            <value>00010000</value>
+            <Description>32 Digital Input and 0 Digital Output</Description>
+          </item>
+          <item>
+            <value>00010001</value>
+            <Description>24 Digital Input and 8 Digital Output</Description>
+          </item>
+          <item>
+            <value>00010010</value>
+            <Description>16 Digital Input and 16 Digital Output</Description>
+          </item>
+          <item>
+            <value>00010011</value>
+            <Description>8 Digital Input and 24 Digital Output</Description>
+          </item>
+          <item>
+            <value>00010100</value>
+            <Description>0 Digital Input and 32 Digital Output</Description>
+          </item>
+          <item>
+            <value>11111111</value>
+            <Description>On-chip bus</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>8</Range>
+        <Description>Device emulation</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>9</Range>
+        <Description>Enhanced link detection all ports</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Disabled</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Enabled</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>10</Range>
+        <Description>DC SYNC Out Unit</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Disabled</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Enabled</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>11</Range>
+        <Description>DC Latch In Unit</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Disabled</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Enabled</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>12</Range>
+        <Description>Enhanced link port 0</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Disabled</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Enabled</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>13</Range>
+        <Description>Enhanced link port 1</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Disabled</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Enabled</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>14</Range>
+        <Description>Enhanced link port 2</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Disabled</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Enabled</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>15</Range>
+        <Description>Enhanced link port 3</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Disabled</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Enabled</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <Register>
+    <Index>014e</Index>
+    <Description>PDI Information</Description>
+    <Details>
+      <Detail esc="04">
+        <Range>0</Range>
+        <Description>PDI register function ack. by write </Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Disabled</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Enabled</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail esc="04">
+        <Range>1</Range>
+        <Description>PDI configured</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail esc="04">
+        <Range>2</Range>
+        <Description>PDI Active</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail esc="04">
+        <Range>3</Range>
+        <Description>PDI config. invalid</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <Register pdi="04">
+    <Index>0150</Index>
+    <Description>PDI Cfg</Description>
+    <Details>
+      <Detail>
+        <Range>0</Range>
+        <Description>OUTVALID polarity</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Active high</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Active low</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>1</Range>
+        <Description>OUTVALID mode</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Output event signaling</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>WD_TRIG signaling</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>2</Range>
+        <Description>mode of direction</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Unidirectional</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Bidirectional</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>3</Range>
+        <Description>Watchdog behavior</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Immediately output reset</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Wait output reset</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>4-5</Range>
+        <Description>Input data is sampled at</Description>
+        <Enum>
+          <item>
+            <value>00</value>
+            <Description>Start of Frame</Description>
+          </item>
+          <item>
+            <value>01</value>
+            <Description>Rising edge of LATCH_IN</Description>
+          </item>
+          <item>
+            <value>10</value>
+            <Description>DC SYNC0 event</Description>
+          </item>
+          <item>
+            <value>11</value>
+            <Description>DC SYNC1 event</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>6-7</Range>
+        <Description>Input data is sampled at</Description>
+        <Enum>
+          <item>
+            <value>00</value>
+            <Description>End of Frame</Description>
+          </item>
+          <item>
+            <value>01</value>
+            <Description>DC SYNC0 event</Description>
+          </item>
+          <item>
+            <value>11</value>
+            <Description>DC SYNC1 event</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <Register pdi="05">
+    <Index>0150</Index>
+    <Description>PDI Cfg</Description>
+    <Details>
+      <Detail>
+        <Range>0-1</Range>
+        <Description>SPI mode</Description>
+      </Detail>
+      <Detail>
+        <Range>2</Range>
+        <Description>SPI IRQ output driver</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Push-Pull</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Open</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>3</Range>
+        <Description>SPI IRQ polarity</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Active low</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Active high</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>4</Range>
+        <Description>SPI SEL polarity</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Active low</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Active high</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>5</Range>
+        <Description>Data output sample mode</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Normal</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Late</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>8</Range>
+        <Description>SYNC output</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Push pull</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Open</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>9</Range>
+        <Description>SYNC0 polarity</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Active low</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Active high</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>10</Range>
+        <Description>SYNC0 output</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Disabled</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Enabled</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>11</Range>
+        <Description>SYNC0 to AL event</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Disabled</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Enabled</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>12</Range>
+        <Description>SYNC1 output</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Push pull</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Open</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>13</Range>
+        <Description>SYNC1 polarity</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Active low</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Active high</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>14</Range>
+        <Description>SYNC1 output</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Disabled</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Enabled</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>15</Range>
+        <Description>SYNC1 to AL event</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Disabled</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Enabled</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <Register pdi="08">
+    <Index>0150</Index>
+    <Description>PDI Cfg</Description>
+    <Details>
+      <Detail>
+        <Range>0-1</Range>
+        <Description>BUSY output driver/polarity</Description>
+        <Enum>
+          <item>
+            <value>00</value>
+            <Description>Push-Pull active low</Description>
+          </item>
+          <item>
+            <value>01</value>
+            <Description>Open Drain (Active low)</Description>
+          </item>
+          <item>
+            <value>10</value>
+            <Description>Push-Pull active high</Description>
+          </item>
+          <item>
+            <value>11</value>
+            <Description>Open source (Active high)</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>2-3</Range>
+        <Description>IRQ output driver/polarity</Description>
+        <Enum>
+          <item>
+            <value>00</value>
+            <Description>Push-Pull active low</Description>
+          </item>
+          <item>
+            <value>01</value>
+            <Description>Open Drain (Active low)</Description>
+          </item>
+          <item>
+            <value>10</value>
+            <Description>Push-Pull active high</Description>
+          </item>
+          <item>
+            <value>11</value>
+            <Description>Open source (Active high)</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>4</Range>
+        <Description>BHE polarity</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Active low</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Active high</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>7</Range>
+        <Description>RD polarity</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Active low</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Active high</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>8</Range>
+        <Description>SYNC output</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Push pull</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Open</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>9</Range>
+        <Description>SYNC0 polarity</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Active low</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Active high</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>10</Range>
+        <Description>SYNC0 output</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Disabled</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Enabled</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>11</Range>
+        <Description>SYNC0 to AL event</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Disabled</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Enabled</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>12</Range>
+        <Description>SYNC1 output</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Push pull</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Open</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>13</Range>
+        <Description>SYNC1 polarity</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Active low</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Active high</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>14</Range>
+        <Description>SYNC1 output</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Disabled</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Enabled</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>15</Range>
+        <Description>SYNC1 to AL event</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Disabled</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Enabled</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <Register pdi="09">
+    <Index>0150</Index>
+    <Description>PDI Cfg</Description>
+    <Details>
+      <Detail>
+        <Range>0-1</Range>
+        <Description>BUSY output driver/polarity</Description>
+        <Enum>
+          <item>
+            <value>00</value>
+            <Description>Push-Pull active low</Description>
+          </item>
+          <item>
+            <value>01</value>
+            <Description>Open Drain (Active low)</Description>
+          </item>
+          <item>
+            <value>10</value>
+            <Description>Push-Pull active high</Description>
+          </item>
+          <item>
+            <value>11</value>
+            <Description>Open source (Active high)</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>2-3</Range>
+        <Description>IRQ output driver/polarity</Description>
+        <Enum>
+          <item>
+            <value>00</value>
+            <Description>Push-Pull active low</Description>
+          </item>
+          <item>
+            <value>01</value>
+            <Description>Open Drain (Active low)</Description>
+          </item>
+          <item>
+            <value>10</value>
+            <Description>Push-Pull active high</Description>
+          </item>
+          <item>
+            <value>11</value>
+            <Description>Open source (Active high)</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>4</Range>
+        <Description>BHE polarity</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Active low</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Active high</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>7</Range>
+        <Description>RD polarity</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Active low</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Active high</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>8</Range>
+        <Description>SYNC output</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Push pull</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Open</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>9</Range>
+        <Description>SYNC0 polarity</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Active low</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Active high</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>10</Range>
+        <Description>SYNC0 output</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Disabled</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Enabled</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>11</Range>
+        <Description>SYNC0 to AL event</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Disabled</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Enabled</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>12</Range>
+        <Description>SYNC1 output</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Push pull</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Open</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>13</Range>
+        <Description>SYNC1 polarity</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Active low</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Active high</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>14</Range>
+        <Description>SYNC1 output</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Disabled</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Enabled</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>15</Range>
+        <Description>SYNC1 to AL event</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Disabled</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Enabled</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <Register pdi="0a">
+    <Index>0150</Index>
+    <Description>PDI Cfg</Description>
+    <Details>
+      <Detail>
+        <Range>0-1</Range>
+        <Description>TA output driver/polarity</Description>
+        <Enum>
+          <item>
+            <value>00</value>
+            <Description>Push-pull active low</Description>
+          </item>
+          <item>
+            <value>01</value>
+            <Description>Open Drain (Active low)</Description>
+          </item>
+          <item>
+            <value>10</value>
+            <Description>Push-pull active high</Description>
+          </item>
+          <item>
+            <value>11</value>
+            <Description>Open Source (Active high)</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>2-3</Range>
+        <Description>IRQ output driver/polarity</Description>
+        <Enum>
+          <item>
+            <value>00</value>
+            <Description>Push-pull active low</Description>
+          </item>
+          <item>
+            <value>01</value>
+            <Description>Open Drain (Active low)</Description>
+          </item>
+          <item>
+            <value>10</value>
+            <Description>Push-pull active high</Description>
+          </item>
+          <item>
+            <value>11</value>
+            <Description>Open Source (Active high)</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>4</Range>
+        <Description>BHE polarity</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Active low</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Active high</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>5</Range>
+        <Description>ADR(0) polarity</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Active low</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Active high</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>6</Range>
+        <Description>Byte accessmode</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>BHE or Byte select mode</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Transfer size mode</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>7</Range>
+        <Description>TS polarity</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Active low</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Active high</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>8</Range>
+        <Description>SYNC output</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Push pull</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Open</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>9</Range>
+        <Description>SYNC0 polarity</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Active low</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Active high</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>10</Range>
+        <Description>SYNC0 output</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Disabled</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Enabled</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>11</Range>
+        <Description>SYNC0 to AL event</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Disabled</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Enabled</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>12</Range>
+        <Description>SYNC1 output</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Push pull</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Open</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>13</Range>
+        <Description>SYNC1 polarity</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Active low</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Active high</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>14</Range>
+        <Description>SYNC1 output</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Disabled</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Enabled</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>15</Range>
+        <Description>SYNC1 to AL event</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Disabled</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Enabled</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <Register pdi="0b">
+    <Index>0150</Index>
+    <Description>PDI Cfg</Description>
+    <Details>
+      <Detail>
+        <Range>0-1</Range>
+        <Description>TA output driver/polarity</Description>
+        <Enum>
+          <item>
+            <value>00</value>
+            <Description>Push-pull active low</Description>
+          </item>
+          <item>
+            <value>01</value>
+            <Description>Open Drain (Active low)</Description>
+          </item>
+          <item>
+            <value>10</value>
+            <Description>Push-pull active high</Description>
+          </item>
+          <item>
+            <value>11</value>
+            <Description>Open Source (Active high)</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>2-3</Range>
+        <Description>IRQ output driver/polarity</Description>
+        <Enum>
+          <item>
+            <value>00</value>
+            <Description>Push-pull active low</Description>
+          </item>
+          <item>
+            <value>01</value>
+            <Description>Open Drain (Active low)</Description>
+          </item>
+          <item>
+            <value>10</value>
+            <Description>Push-pull active high</Description>
+          </item>
+          <item>
+            <value>11</value>
+            <Description>Open Source (Active high)</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>4</Range>
+        <Description>BHE polarity</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Active low</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Active high</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>5</Range>
+        <Description>ADR(0) polarity</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Active low</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Active high</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>6</Range>
+        <Description>Byte accessmode</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>BHE or Byte select mode</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Transfer size mode</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>7</Range>
+        <Description>TS polarity</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Active low</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Active high</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>8</Range>
+        <Description>SYNC output</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Push pull</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Open</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>9</Range>
+        <Description>SYNC0 polarity</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Active low</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Active high</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>10</Range>
+        <Description>SYNC0 output</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Disabled</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Enabled</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>11</Range>
+        <Description>SYNC0 to AL event</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Disabled</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Enabled</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>12</Range>
+        <Description>SYNC1 output</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Push pull</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Open</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>13</Range>
+        <Description>SYNC1 polarity</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Active low</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Active high</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>14</Range>
+        <Description>SYNC1 output</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Disabled</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Enabled</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>15</Range>
+        <Description>SYNC1 to AL event</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Disabled</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Enabled</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <Register pdi="07">
+    <Index>0150</Index>
+    <Description>PDI Cfg</Description>
+    <Details>
+      <Detail>
+        <Range>0</Range>
+        <Description>Bridge port physical layer</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>EBUS</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>MII</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>8</Range>
+        <Description>SYNC output</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Push pull</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Open</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>9</Range>
+        <Description>SYNC0 polarity</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Active low</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Active high</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>10</Range>
+        <Description>SYNC0 output</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Disabled</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Enabled</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>11</Range>
+        <Description>SYNC0 to AL event</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Disabled</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Enabled</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>12</Range>
+        <Description>SYNC1 output</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Push pull</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Open</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>13</Range>
+        <Description>SYNC1 polarity</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Active low</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Active high</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>14</Range>
+        <Description>SYNC1 output</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Disabled</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Enabled</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>15</Range>
+        <Description>SYNC1 to AL event</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Disabled</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Enabled</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <Register pdi="ff">
+    <Index>0150</Index>
+    <Description>PDI Cfg</Description>
+    <Details>
+      <Detail>
+        <Range>0-6</Range>
+        <Description>Bus clock multiplication factor</Description>
+      </Detail>
+      <Detail>
+        <Range>7</Range>
+        <Description>On-chip bus</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Altera Avalon</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Xilinx OPB</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>8</Range>
+        <Description>SYNC0 output</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Push pull</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Open</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>9</Range>
+        <Description>SYNC0 polarity</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Active low</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Active high</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>10</Range>
+        <Description>SYNC0 output</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Disabled</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Enabled</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>11</Range>
+        <Description>SYNC0 to AL event</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Disabled</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Enabled</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>12</Range>
+        <Description>SYNC1 output</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Push pull</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Open</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>13</Range>
+        <Description>SYNC1 polarity</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Active low</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Active high</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>14</Range>
+        <Description>SYNC1 output</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Disabled</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Enabled</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>15</Range>
+        <Description>SYNC1 to AL event</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Disabled</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Enabled</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <Register pdi="04">
+    <Index>0152</Index>
+    <Description>PDI Cfg Ext</Description>
+    <Details>
+      <Detail>
+        <Range>0</Range>
+        <Description>Direction of I/O[1:0]</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Input</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Output</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>1</Range>
+        <Description>Direction of I/O[3:2]</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Input</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Output</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>2</Range>
+        <Description>Direction of I/O[5:4]</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Input</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Output</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>3</Range>
+        <Description>Direction of I/O[7:6]</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Input</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Output</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>4</Range>
+        <Description>Direction of I/O[9:8]</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Input</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Output</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>5</Range>
+        <Description>Direction of I/O[11:10]</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Input</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Output</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>6</Range>
+        <Description>Direction of I/O[13:12]</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Input</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Output</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>7</Range>
+        <Description>Direction of I/O[15:14]</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Input</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Output</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>8</Range>
+        <Description>Direction of I/O[17:16]</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Input</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Output</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>9</Range>
+        <Description>Direction of I/O[19:18]</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Input</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Output</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>10</Range>
+        <Description>Direction of I/O[21:20]</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Input</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Output</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>11</Range>
+        <Description>Direction of I/O[23:22]</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Input</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Output</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>12</Range>
+        <Description>Direction of I/O[25:24]</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Input</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Output</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>13</Range>
+        <Description>Direction of I/O[27:26]</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Input</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Output</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>14</Range>
+        <Description>Direction of I/O[29:28]</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Input</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Output</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>15</Range>
+        <Description>Direction of I/O[31:30]</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Input</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Output</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <Register pdi="08">
+    <Index>0152</Index>
+    <Description>PDI Cfg Ext</Description>
+    <Details>
+      <Detail>
+        <Range>0</Range>
+        <Description>Read BUSY delay</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Normal read</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Delayed read</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <Register pdi="09">
+    <Index>0152</Index>
+    <Description>PDI Cfg Ext</Description>
+    <Details>
+      <Detail>
+        <Range>0</Range>
+        <Description>Read BUSY delay</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Normal read</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Delayed read</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <Register pdi="0a">
+    <Index>0152</Index>
+    <Description>PDI Cfg Ext</Description>
+    <Details>
+      <Detail>
+        <Range>8</Range>
+        <Description>Write data valid</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Oneclock cycle after CS</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Together with CS</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>9</Range>
+        <Description>Read mode</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Use Byte Select</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Always read 16 bit</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>10</Range>
+        <Description>CS mode</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Sample with rising edge</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Sample with falling edge</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>11</Range>
+        <Description>TA/IRQ mode</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Update with rising edge</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Update with falling edge</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <Register pdi="0b">
+    <Index>0152</Index>
+    <Description>PDI Cfg Ext</Description>
+    <Details>
+      <Detail>
+        <Range>8</Range>
+        <Description>Write data valid</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Oneclock cycle after CS</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Together with CS</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>9</Range>
+        <Description>Read mode</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Use Byte Select</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Always read 16 bit</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>10</Range>
+        <Description>CS mode</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Sample with rising edge</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Sample with falling edge</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>11</Range>
+        <Description>TA/IRQ mode</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Update with rising edge</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Update with falling edge</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <Register pdi="ff">
+    <Index>0152</Index>
+    <Description>PDI Cfg Ext</Description>
+    <Details>
+      <Detail>
+        <Range>0-1</Range>
+        <Description>Data bus width</Description>
+        <Enum>
+          <item>
+            <value>00</value>
+            <Description>4Bytes</Description>
+          </item>
+          <item>
+            <value>01</value>
+            <Description>1Byte</Description>
+          </item>
+          <item>
+            <value>10</value>
+            <Description>2Bytes</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <!--Interrupts-->
+  <Register>
+    <Index>0200</Index>
+    <Description>ECAT IRQ Mask</Description>
+    <Details>
+      <Detail>
+        <Range>0</Range>
+        <Description>Latch event</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>2</Range>
+        <Description>ESC Status event</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>3</Range>
+        <Description>AL Status event</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="0">
+        <Range>4</Range>
+        <Description>SM0 IRQ</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="1">
+        <Range>5</Range>
+        <Description>SM1 IRQ</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="2">
+        <Range>6</Range>
+        <Description>SM2 IRQ</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="3">
+        <Range>7</Range>
+        <Description>SM3 IRQ</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="4">
+        <Range>8</Range>
+        <Description>SM4 IRQ</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="5">
+        <Range>9</Range>
+        <Description>SM5 IRQ</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="6">
+        <Range>10</Range>
+        <Description>SM6 IRQ</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="7">
+        <Range>11</Range>
+        <Description>SM7 IRQ</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <Register>
+    <Index>0204</Index>
+    <Description>PDI IRQ Mask L</Description>
+    <Details>
+      <Detail>
+        <Range>0</Range>
+        <Description>AL Ctrl</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>1</Range>
+        <Description>Latch input</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>2</Range>
+        <Description>SYNC 0</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>3</Range>
+        <Description>SYNC 1</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail esc="02">
+        <Range>4</Range>
+        <Description>SM Changed</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>5</Range>
+        <Description>EEPROM command pending</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="0">
+        <Range>8</Range>
+        <Description>SM0</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="1">
+        <Range>9</Range>
+        <Description>SM1</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="2">
+        <Range>10</Range>
+        <Description>SM2</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="3">
+        <Range>11</Range>
+        <Description>SM3</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="4">
+        <Range>12</Range>
+        <Description>SM4</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="5">
+        <Range>13</Range>
+        <Description>SM5</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="6">
+        <Range>14</Range>
+        <Description>SM6</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="7">
+        <Range>15</Range>
+        <Description>SM7</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <Register>
+    <Index>0206</Index>
+    <Description>PDI IRQ Mask H</Description>
+    <Details>
+      <Detail sm="8">
+        <Range>0</Range>
+        <Description>SM8</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="9">
+        <Range>1</Range>
+        <Description>SM9</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="10">
+        <Range>2</Range>
+        <Description>SM10</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="11">
+        <Range>3</Range>
+        <Description>SM11</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="12">
+        <Range>4</Range>
+        <Description>SM12</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="13">
+        <Range>5</Range>
+        <Description>SM13</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="14">
+        <Range>6</Range>
+        <Description>SM14</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="15">
+        <Range>7</Range>
+        <Description>SM15</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <Register>
+    <Index>0210</Index>
+    <Description>ECAT IRQ</Description>
+    <Details>
+      <Detail>
+        <Range>0</Range>
+        <Description>Latch event</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>2</Range>
+        <Description>ESC Status event</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>3</Range>
+        <Description>AL Status event</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="0">
+        <Range>4</Range>
+        <Description>SM0 IRQ</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="1">
+        <Range>5</Range>
+        <Description>SM1 IRQ</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="2">
+        <Range>6</Range>
+        <Description>SM2 IRQ</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="3">
+        <Range>7</Range>
+        <Description>SM3 IRQ</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="4">
+        <Range>8</Range>
+        <Description>SM4 IRQ</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="5">
+        <Range>9</Range>
+        <Description>SM5 IRQ</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="6">
+        <Range>10</Range>
+        <Description>SM6 IRQ</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="7">
+        <Range>11</Range>
+        <Description>SM7 IRQ</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <Register>
+    <Index>0220</Index>
+    <Description>PDI IRQ 1</Description>
+    <Details>
+      <Detail>
+        <Range>0</Range>
+        <Description>AL Ctrl</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>1</Range>
+        <Description>Latch input</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>2</Range>
+        <Description>DC SYNC 0</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>3</Range>
+        <Description>DC SYNC 1</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>4</Range>
+        <Description>SM activation reg. changed</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>5</Range>
+        <Description>EEPROM command pending</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>6</Range>
+        <Description>Watchdog Process Data expired</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="0">
+        <Range>8</Range>
+        <Description>SM0</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="1">
+        <Range>9</Range>
+        <Description>SM1</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="2">
+        <Range>10</Range>
+        <Description>SM2</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="3">
+        <Range>11</Range>
+        <Description>SM3</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="4">
+        <Range>12</Range>
+        <Description>SM4</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="5">
+        <Range>13</Range>
+        <Description>SM5</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="6">
+        <Range>14</Range>
+        <Description>SM6</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="7">
+        <Range>15</Range>
+        <Description>SM7</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <Register>
+    <Index>0222</Index>
+    <Description>PDI IRQ 2</Description>
+    <Details>
+      <Detail sm="8">
+        <Range>0</Range>
+        <Description>SM8</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="9">
+        <Range>1</Range>
+        <Description>SM9</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="10">
+        <Range>2</Range>
+        <Description>SM10</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="11">
+        <Range>3</Range>
+        <Description>SM11</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="12">
+        <Range>4</Range>
+        <Description>SM12</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="13">
+        <Range>5</Range>
+        <Description>SM13</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="14">
+        <Range>6</Range>
+        <Description>SM14</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail sm="15">
+        <Range>7</Range>
+        <Description>SM15</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <!--Error Counters-->
+  <Register>
+    <Index>0300</Index>
+    <Description>CRC A</Description>
+    <Details>
+      <Detail>
+        <Range>0-7</Range>
+        <Description>Invalid frame</Description>
+      </Detail>
+      <Detail>
+        <Range>8-15</Range>
+        <Description>RX error</Description>
+      </Detail>
+    </Details>
+  </Register>
+  <Register>
+    <Index>0302</Index>
+    <Description>CRC B</Description>
+    <Details>
+      <Detail>
+        <Range>0-7</Range>
+        <Description>Invalid frame</Description>
+      </Detail>
+      <Detail>
+        <Range>8-15</Range>
+        <Description>RX error</Description>
+      </Detail>
+    </Details>
+  </Register>
+  <Register>
+    <Index>0304</Index>
+    <Description>CRC C</Description>
+    <Details>
+      <Detail>
+        <Range>0-7</Range>
+        <Description>Invalid frame</Description>
+      </Detail>
+      <Detail>
+        <Range>8-15</Range>
+        <Description>RX error</Description>
+      </Detail>
+    </Details>
+  </Register>
+  <Register>
+    <Index>0306</Index>
+    <Description>CRC D</Description>
+    <Details>
+      <Detail>
+        <Range>0-7</Range>
+        <Description>Invalid frame</Description>
+      </Detail>
+      <Detail>
+        <Range>8-15</Range>
+        <Description>RX error</Description>
+      </Detail>
+    </Details>
+  </Register>
+  <Register>
+    <Index>0308</Index>
+    <Description>Forw. CRC A/B</Description>
+    <Details>
+      <Detail>
+        <Range>0-7</Range>
+        <Description>Port A</Description>
+      </Detail>
+      <Detail>
+        <Range>8-15</Range>
+        <Description>Port B</Description>
+      </Detail>
+    </Details>
+  </Register>
+  <Register>
+    <Index>030a</Index>
+    <Description>Forw. CRC C/D</Description>
+    <Details>
+      <Detail>
+        <Range>0-7</Range>
+        <Description>Port C</Description>
+      </Detail>
+      <Detail>
+        <Range>8-15</Range>
+        <Description>Port D</Description>
+      </Detail>
+    </Details>
+  </Register>
+  <Register>
+    <Index>030c</Index>
+    <Description>Proc. CRC/PDI Err</Description>
+    <Details>
+      <Detail>
+        <Range>0-7</Range>
+        <Description>Process unit error</Description>
+      </Detail>
+      <Detail>
+        <Range>8-15</Range>
+        <Description>PDI error</Description>
+      </Detail>
+    </Details>
+  </Register>
+  <Register pdi="05">
+    <Index>030e</Index>
+    <Description>PDI Error Code</Description>
+    <Details>
+      <Detail>
+        <Range>0-2</Range>
+        <Description>Number of SPI CLK cycles of whole access</Description>
+      </Detail>
+      <Detail>
+        <Range>3</Range>
+        <Description>Busy violation during read access</Description>
+      </Detail>
+      <Detail>
+        <Range>4</Range>
+        <Description>Read termination missing</Description>
+      </Detail>
+      <Detail>
+        <Range>5</Range>
+        <Description>Access continued</Description>
+      </Detail>
+      <Detail>
+        <Range>6-7</Range>
+        <Description>SPI command</Description>
+      </Detail>
+    </Details>
+  </Register>
+  <Register pdi="08" esc="04">
+    <Index>030e</Index>
+    <Description>PDI Error Code</Description>
+    <Details>
+      <Detail>
+        <Range>0</Range>
+        <Description>Busy violation during read access</Description>
+      </Detail>
+      <Detail>
+        <Range>1</Range>
+        <Description>Busy violation during write access</Description>
+      </Detail>
+      <Detail>
+        <Range>2</Range>
+        <Description>Addressing error for a read access</Description>
+      </Detail>
+      <Detail>
+        <Range>3</Range>
+        <Description>Addressing error for a write access</Description>
+      </Detail>
+    </Details>
+  </Register>
+  <Register pdi="09" esc="04">
+    <Index>030e</Index>
+    <Description>PDI Error Code</Description>
+    <Details>
+      <Detail>
+        <Range>0</Range>
+        <Description>Busy violation during read access</Description>
+      </Detail>
+      <Detail>
+        <Range>1</Range>
+        <Description>Busy violation during write access</Description>
+      </Detail>
+      <Detail>
+        <Range>2</Range>
+        <Description>Addressing error for a read access</Description>
+      </Detail>
+      <Detail>
+        <Range>3</Range>
+        <Description>Addressing error for a write access</Description>
+      </Detail>
+    </Details>
+  </Register>
+  <Register pdi="0a" esc="04">
+    <Index>030e</Index>
+    <Description>PDI Error Code</Description>
+    <Details>
+      <Detail>
+        <Range>0</Range>
+        <Description>Busy violation during read access</Description>
+      </Detail>
+      <Detail>
+        <Range>1</Range>
+        <Description>Busy violation during write access</Description>
+      </Detail>
+      <Detail>
+        <Range>2</Range>
+        <Description>Addressing error for a read access</Description>
+      </Detail>
+      <Detail>
+        <Range>3</Range>
+        <Description>Addressing error for a write access</Description>
+      </Detail>
+    </Details>
+  </Register>
+  <Register pdi="0b" esc="04">
+    <Index>030e</Index>
+    <Description>PDI Error Code</Description>
+    <Details>
+      <Detail>
+        <Range>0</Range>
+        <Description>Busy violation during read access</Description>
+      </Detail>
+      <Detail>
+        <Range>1</Range>
+        <Description>Busy violation during write access</Description>
+      </Detail>
+      <Detail>
+        <Range>2</Range>
+        <Description>Addressing error for a read access</Description>
+      </Detail>
+      <Detail>
+        <Range>3</Range>
+        <Description>Addressing error for a write access</Description>
+      </Detail>
+    </Details>
+  </Register>
+  <Register>
+    <Index>0310</Index>
+    <Description>Link Lost A/B</Description>
+    <Details>
+      <Detail>
+        <Range>0-7</Range>
+        <Description>Port A</Description>
+      </Detail>
+      <Detail>
+        <Range>8-15</Range>
+        <Description>Port B</Description>
+      </Detail>
+    </Details>
+  </Register>
+  <Register>
+    <Index>0312</Index>
+    <Description>Link Lost C/D</Description>
+    <Details>
+      <Detail>
+        <Range>0-7</Range>
+        <Description>Port C</Description>
+      </Detail>
+      <Detail>
+        <Range>8-15</Range>
+        <Description>Port D</Description>
+      </Detail>
+    </Details>
+  </Register>
+  <!--Watchdogs-->
+  <Register>
+    <Index>0400</Index>
+    <Description>WD Divisor</Description>
+  </Register>
+  <Register>
+    <Index>0410</Index>
+    <Description>WD Time PDI</Description>
+  </Register>
+  <Register>
+    <Index>0420</Index>
+    <Description>WD Time SM</Description>
+  </Register>
+  <Register>
+    <Index>0440</Index>
+    <Description>WD Status</Description>
+    <Details>
+      <Detail>
+        <Range>0</Range>
+        <Description>PD watchdog</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>expired</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>active or disabled</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <Register>
+    <Index>0442</Index>
+    <Description>WD PDI/SM Counter</Description>
+    <Details>
+      <Detail>
+        <Range>0-7</Range>
+        <Description>SM watchdog cnt</Description>
+      </Detail>
+      <Detail>
+        <Range>8-15</Range>
+        <Description>PDI watchdog cnt</Description>
+      </Detail>
+    </Details>
+  </Register>
+  <!--SII EEPROM Interface-->
+  <Register>
+    <Index>0500</Index>
+    <Description>EEPROM Assign</Description>
+    <Details>
+      <Detail>
+        <Range>0</Range>
+        <Description>EEPROM access ctrl</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>ECAT</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>PDI</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>1</Range>
+        <Description>Reset PDIaccess</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Do not change Bit 501.0</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Reset Bit 501.0 to 0</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>8</Range>
+        <Description>EEPROM access status</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>ECAT</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>PDI</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <Register>
+    <Index>0502</Index>
+    <Description>EEPROM Ctrl/Status</Description>
+    <Details>
+      <Detail>
+        <Range>0</Range>
+        <Description>Write access</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>5</Range>
+        <Description>EEPROM emulation</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Normal operation</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>PDI emulates EEPROM</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>6</Range>
+        <Description>8 byte access</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>7</Range>
+        <Description>2 byte address</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>8</Range>
+        <Description>Read access</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>9</Range>
+        <Description>Write access</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>10</Range>
+        <Description>Reload access</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>11</Range>
+        <Description>CRC error</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>12</Range>
+        <Description>Load error</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>13</Range>
+        <Description>Cmd error</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>14</Range>
+        <Description>Write error</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>15</Range>
+        <Description>Busy</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <Register>
+    <Index>0504</Index>
+    <Description>EEPROM Address L</Description>
+  </Register>
+  <Register>
+    <Index>0506</Index>
+    <Description>EEPROM Address H</Description>
+  </Register>
+  <Register>
+    <Index>0508</Index>
+    <Description>EEPROM Data 0</Description>
+  </Register>
+  <Register>
+    <Index>050a</Index>
+    <Description>EEPROM Data 1</Description>
+  </Register>
+  <Register>
+    <Index>050c</Index>
+    <Description>EEPROM Data 2</Description>
+  </Register>
+  <Register>
+    <Index>050e</Index>
+    <Description>EEPROM Data 3</Description>
+  </Register>
+  <!--MII Management Interface-->
+  <Register>
+    <Index>0510</Index>
+    <Description>Phy MIO Ctrl/Status</Description>
+    <Details>
+      <Detail>
+        <Range>0</Range>
+        <Description>Write enable</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>1</Range>
+        <Description>PDI control possible</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>2</Range>
+        <Description>Link detection active</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>3-7</Range>
+        <Description>Phy address offset</Description>
+      </Detail>
+      <Detail>
+        <Range>8</Range>
+        <Description>Read access</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>9</Range>
+        <Description>Write access</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>13</Range>
+        <Description>Read error occured</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>14</Range>
+        <Description>Write error occured</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>15</Range>
+        <Description>Busy</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <Register>
+    <Index>0512</Index>
+    <Description>Phy MIO Address</Description>
+    <Details>
+      <Detail>
+        <Range>0-4</Range>
+        <Description>Phy address</Description>
+      </Detail>
+      <Detail>
+        <Range>8-11</Range>
+        <Description>MIO address</Description>
+      </Detail>
+    </Details>
+  </Register>
+  <Register>
+    <Index>0514</Index>
+    <Description>Phy MIO Data</Description>
+  </Register>
+  <Register>
+    <Index>0516</Index>
+    <Description>MIO Access</Description>
+    <Details>
+      <Detail>
+        <Range>0</Range>
+        <Description>ECAT claims exclusive access</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>8</Range>
+        <Description>PDI hasaccess to MII management</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>9</Range>
+        <Description>Force PDI to reset 517.0</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <Register>
+    <Index>0518</Index>
+    <Description>MIO Port Status A/B</Description>
+    <Details>
+      <Detail>
+        <Range>0</Range>
+        <Description>Port A: Physical link detected</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>1</Range>
+        <Description>Port A: Link detected</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>2</Range>
+        <Description>Port A: Link status error</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>3</Range>
+        <Description>Port A: Read error</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>4</Range>
+        <Description>Port A: Link partner error</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>5</Range>
+        <Description>Port A: Phy config updated</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>8</Range>
+        <Description>Port B: Physical link detected</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>9</Range>
+        <Description>Port B: Link detected</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>10</Range>
+        <Description>Port B:  Link status error</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>11</Range>
+        <Description>Port B: Read error</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>12</Range>
+        <Description>Port B: Link partner error</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>13</Range>
+        <Description>Port B: Phy config updated</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <Register>
+    <Index>051a</Index>
+    <Description>MIO Port Status C/D</Description>
+    <Details>
+      <Detail>
+        <Range>0</Range>
+        <Description>Port C: Physical link detected</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>1</Range>
+        <Description>Port C: Link detected</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>2</Range>
+        <Description>Port C: Link status eror</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>3</Range>
+        <Description>Port C: Read error</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>4</Range>
+        <Description>Port C: Link partner error</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>5</Range>
+        <Description>Port C: Phy config updated</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>8</Range>
+        <Description>Port D: Physical link detected</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>9</Range>
+        <Description>Port D: Link detected</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>10</Range>
+        <Description>Port D: Link status error</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>11</Range>
+        <Description>Port D: Read error</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>12</Range>
+        <Description>Port D: Link partner error</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>13</Range>
+        <Description>Port D: Phy config updated</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <!--FMMU-->
+  <Register fmmu="0">
+    <Index>0600</Index>
+    <Description>F0 lStart L</Description>
+  </Register>
+  <Register fmmu="0">
+    <Index>0602</Index>
+    <Description>F0 lStart H</Description>
+  </Register>
+  <Register fmmu="0">
+    <Index>0604</Index>
+    <Description>F0 lLength</Description>
+  </Register>
+  <Register fmmu="0">
+    <Index>0606</Index>
+    <Description>F0 lStartEndBit</Description>
+  </Register>
+  <Register fmmu="0">
+    <Index>0608</Index>
+    <Description>F0 pStart</Description>
+  </Register>
+  <Register fmmu="0">
+    <Index>060a</Index>
+    <Description>F0 pStartBit/Dir</Description>
+  </Register>
+  <Register fmmu="0">
+    <Index>060c</Index>
+    <Description>F0 Enable</Description>
+  </Register>
+  <Register fmmu="1">
+    <Index>0610</Index>
+    <Description>F1 lStart L</Description>
+  </Register>
+  <Register fmmu="1">
+    <Index>0612</Index>
+    <Description>F1 lStart H</Description>
+  </Register>
+  <Register fmmu="1">
+    <Index>0614</Index>
+    <Description>F1 lLength</Description>
+  </Register>
+  <Register fmmu="1">
+    <Index>0616</Index>
+    <Description>F1 lStartEndBit</Description>
+  </Register>
+  <Register fmmu="1">
+    <Index>0618</Index>
+    <Description>F1 pStart</Description>
+  </Register>
+  <Register fmmu="1">
+    <Index>061a</Index>
+    <Description>F01 pStartBit/Dir</Description>
+  </Register>
+  <Register fmmu="1">
+    <Index>061c</Index>
+    <Description>F1 Enable</Description>
+  </Register>
+  <Register fmmu="2">
+    <Index>0620</Index>
+    <Description>F2 lStart L</Description>
+  </Register>
+  <Register fmmu="2">
+    <Index>0622</Index>
+    <Description>F2 lStart H</Description>
+  </Register>
+  <Register fmmu="2">
+    <Index>0624</Index>
+    <Description>F2 lLength</Description>
+  </Register>
+  <Register fmmu="2">
+    <Index>0626</Index>
+    <Description>F2 lStartEndBit</Description>
+  </Register>
+  <Register fmmu="2">
+    <Index>0628</Index>
+    <Description>F2 pStart</Description>
+  </Register>
+  <Register fmmu="2">
+    <Index>062a</Index>
+    <Description>F2 pStartBit/Dir</Description>
+  </Register>
+  <Register fmmu="2">
+    <Index>062c</Index>
+    <Description>F2 Enable</Description>
+  </Register>
+  <Register fmmu="3">
+    <Index>0630</Index>
+    <Description>F3 lStart L</Description>
+  </Register>
+  <Register fmmu="3">
+    <Index>0632</Index>
+    <Description>F3 lStart H</Description>
+  </Register>
+  <Register fmmu="3">
+    <Index>0634</Index>
+    <Description>F3 lLength</Description>
+  </Register>
+  <Register fmmu="3">
+    <Index>0636</Index>
+    <Description>F3 lStartEndBit</Description>
+  </Register>
+  <Register fmmu="3">
+    <Index>0638</Index>
+    <Description>F3 pStart</Description>
+  </Register>
+  <Register fmmu="3">
+    <Index>063a</Index>
+    <Description>F3 pStartBit/Dir</Description>
+  </Register>
+  <Register fmmu="3">
+    <Index>063c</Index>
+    <Description>F3 Enable</Description>
+  </Register>
+  <Register fmmu="4">
+    <Index>0640</Index>
+    <Description>F4 lStart L</Description>
+  </Register>
+  <Register fmmu="4">
+    <Index>0642</Index>
+    <Description>F4 lStart H</Description>
+  </Register>
+  <Register fmmu="4">
+    <Index>0644</Index>
+    <Description>F4 lLength</Description>
+  </Register>
+  <Register fmmu="4">
+    <Index>0646</Index>
+    <Description>F4 lStartEndBit</Description>
+  </Register>
+  <Register fmmu="4">
+    <Index>0648</Index>
+    <Description>F4 pStart</Description>
+  </Register>
+  <Register fmmu="4">
+    <Index>064a</Index>
+    <Description>F4 pStartBit/Dir</Description>
+  </Register>
+  <Register fmmu="4">
+    <Index>064c</Index>
+    <Description>F4 Enable</Description>
+  </Register>
+  <Register fmmu="5">
+    <Index>0650</Index>
+    <Description>F5 lStart L</Description>
+  </Register>
+  <Register fmmu="5">
+    <Index>0652</Index>
+    <Description>F5 lStart H</Description>
+  </Register>
+  <Register fmmu="5">
+    <Index>0654</Index>
+    <Description>F5 lLength</Description>
+  </Register>
+  <Register fmmu="5">
+    <Index>0656</Index>
+    <Description>F5 lStartEndBit</Description>
+  </Register>
+  <Register fmmu="5">
+    <Index>0658</Index>
+    <Description>F5 pStart</Description>
+  </Register>
+  <Register fmmu="5">
+    <Index>065a</Index>
+    <Description>F5 pStartBit/Dir</Description>
+  </Register>
+  <Register fmmu="5">
+    <Index>065c</Index>
+    <Description>F5 Enable</Description>
+  </Register>
+  <Register fmmu="6">
+    <Index>0660</Index>
+    <Description>F6 lStart L</Description>
+  </Register>
+  <Register fmmu="6">
+    <Index>0662</Index>
+    <Description>F6 lStart H</Description>
+  </Register>
+  <Register fmmu="6">
+    <Index>0664</Index>
+    <Description>F6 lLength</Description>
+  </Register>
+  <Register fmmu="6">
+    <Index>0666</Index>
+    <Description>F6 lStartEndBit</Description>
+  </Register>
+  <Register fmmu="6">
+    <Index>0668</Index>
+    <Description>F6 pStart</Description>
+  </Register>
+  <Register fmmu="6">
+    <Index>066a</Index>
+    <Description>F6 pStartBit/Dir</Description>
+  </Register>
+  <Register fmmu="6">
+    <Index>066c</Index>
+    <Description>F6 Enable</Description>
+  </Register>
+  <Register fmmu="7">
+    <Index>0670</Index>
+    <Description>F7 lStart L</Description>
+  </Register>
+  <Register fmmu="7">
+    <Index>0672</Index>
+    <Description>F7 lStart H</Description>
+  </Register>
+  <Register fmmu="7">
+    <Index>0674</Index>
+    <Description>F7 lLength</Description>
+  </Register>
+  <Register fmmu="7">
+    <Index>0676</Index>
+    <Description>F7 lStartEndBit</Description>
+  </Register>
+  <Register fmmu="7">
+    <Index>0678</Index>
+    <Description>F7 pStart</Description>
+  </Register>
+  <Register fmmu="7">
+    <Index>067a</Index>
+    <Description>F7 pStartBit/Dir</Description>
+  </Register>
+  <Register fmmu="7">
+    <Index>067c</Index>
+    <Description>F7 Enable</Description>
+  </Register>
+  <Register fmmu="8">
+    <Index>0680</Index>
+    <Description>F8 lStart L</Description>
+  </Register>
+  <Register fmmu="8">
+    <Index>0682</Index>
+    <Description>F8 lStart H</Description>
+  </Register>
+  <Register fmmu="8">
+    <Index>0684</Index>
+    <Description>F8 lLength</Description>
+  </Register>
+  <Register fmmu="8">
+    <Index>0686</Index>
+    <Description>F8 lStartEndBit</Description>
+  </Register>
+  <Register fmmu="8">
+    <Index>0688</Index>
+    <Description>F8 pStart</Description>
+  </Register>
+  <Register fmmu="8">
+    <Index>068a</Index>
+    <Description>F8 pStartBit/Dir</Description>
+  </Register>
+  <Register fmmu="8">
+    <Index>068c</Index>
+    <Description>F8 Enable</Description>
+  </Register>
+  <Register fmmu="9">
+    <Index>0690</Index>
+    <Description>F9 lStart L</Description>
+  </Register>
+  <Register fmmu="9">
+    <Index>0692</Index>
+    <Description>F9 lStart H</Description>
+  </Register>
+  <Register fmmu="9">
+    <Index>0694</Index>
+    <Description>F9 lLength</Description>
+  </Register>
+  <Register fmmu="9">
+    <Index>0696</Index>
+    <Description>F9 lStartEndBit</Description>
+  </Register>
+  <Register fmmu="9">
+    <Index>0698</Index>
+    <Description>F9 pStart</Description>
+  </Register>
+  <Register fmmu="9">
+    <Index>069a</Index>
+    <Description>F9 pStartBit/Dir</Description>
+  </Register>
+  <Register fmmu="9">
+    <Index>069c</Index>
+    <Description>F9 Enable</Description>
+  </Register>
+  <Register fmmu="10">
+    <Index>06a0</Index>
+    <Description>F10 lStart L</Description>
+  </Register>
+  <Register fmmu="10">
+    <Index>06a2</Index>
+    <Description>F10 lStart H</Description>
+  </Register>
+  <Register fmmu="10">
+    <Index>06a4</Index>
+    <Description>F10 lLength</Description>
+  </Register>
+  <Register fmmu="10">
+    <Index>06a6</Index>
+    <Description>F10 lStartEndBit</Description>
+  </Register>
+  <Register fmmu="10">
+    <Index>06a8</Index>
+    <Description>F10 pStart</Description>
+  </Register>
+  <Register fmmu="10">
+    <Index>06aa</Index>
+    <Description>F10 pStartBit/Dir</Description>
+  </Register>
+  <Register fmmu="10">
+    <Index>06ac</Index>
+    <Description>F10 Enable</Description>
+  </Register>
+  <Register fmmu="11">
+    <Index>06b0</Index>
+    <Description>F11 lStart L</Description>
+  </Register>
+  <Register fmmu="11">
+    <Index>06b2</Index>
+    <Description>F11 lStart H</Description>
+  </Register>
+  <Register fmmu="11">
+    <Index>06b4</Index>
+    <Description>F11 lLength</Description>
+  </Register>
+  <Register fmmu="11">
+    <Index>06b6</Index>
+    <Description>F11 lStartEndBit</Description>
+  </Register>
+  <Register fmmu="11">
+    <Index>06b8</Index>
+    <Description>F11 pStart</Description>
+  </Register>
+  <Register fmmu="11">
+    <Index>06ba</Index>
+    <Description>F11 pStartBit/Dir</Description>
+  </Register>
+  <Register fmmu="11">
+    <Index>06bc</Index>
+    <Description>F11 Enable</Description>
+  </Register>
+  <Register fmmu="12">
+    <Index>06c0</Index>
+    <Description>F12 lStart L</Description>
+  </Register>
+  <Register fmmu="12">
+    <Index>06c2</Index>
+    <Description>F12 lStart H</Description>
+  </Register>
+  <Register fmmu="12">
+    <Index>06c4</Index>
+    <Description>F12 lLength</Description>
+  </Register>
+  <Register fmmu="12">
+    <Index>06c6</Index>
+    <Description>F12 lStartEndBit</Description>
+  </Register>
+  <Register fmmu="12">
+    <Index>06c8</Index>
+    <Description>F12 pStart</Description>
+  </Register>
+  <Register fmmu="12">
+    <Index>06ca</Index>
+    <Description>F12 pStartBit/Dir</Description>
+  </Register>
+  <Register fmmu="12">
+    <Index>06cc</Index>
+    <Description>F12 Enable</Description>
+  </Register>
+  <Register fmmu="13">
+    <Index>06d0</Index>
+    <Description>F13 lStart L</Description>
+  </Register>
+  <Register fmmu="13">
+    <Index>06d2</Index>
+    <Description>F13 lStart H</Description>
+  </Register>
+  <Register fmmu="13">
+    <Index>06d4</Index>
+    <Description>F13 lLength</Description>
+  </Register>
+  <Register fmmu="13">
+    <Index>06d6</Index>
+    <Description>F13 lStartEndBit</Description>
+  </Register>
+  <Register fmmu="13">
+    <Index>06d8</Index>
+    <Description>F13 pStart</Description>
+  </Register>
+  <Register fmmu="13">
+    <Index>06da</Index>
+    <Description>F13 pStartBit/Dir</Description>
+  </Register>
+  <Register fmmu="13">
+    <Index>06dc</Index>
+    <Description>F13 Enable</Description>
+  </Register>
+  <Register fmmu="14">
+    <Index>06e0</Index>
+    <Description>F14 lStart L</Description>
+  </Register>
+  <Register fmmu="14">
+    <Index>06e2</Index>
+    <Description>F14 lStart H</Description>
+  </Register>
+  <Register fmmu="14">
+    <Index>06e4</Index>
+    <Description>F14 lLength</Description>
+  </Register>
+  <Register fmmu="14">
+    <Index>06e6</Index>
+    <Description>F14 lStartEndBit</Description>
+  </Register>
+  <Register fmmu="14">
+    <Index>06e8</Index>
+    <Description>F14 pStart</Description>
+  </Register>
+  <Register fmmu="14">
+    <Index>06ea</Index>
+    <Description>F14 pStartBit/Dir</Description>
+  </Register>
+  <Register fmmu="14">
+    <Index>06ec</Index>
+    <Description>F14 Enable</Description>
+  </Register>
+  <Register fmmu="15">
+    <Index>06f0</Index>
+    <Description>F15 lStart L</Description>
+  </Register>
+  <Register fmmu="15">
+    <Index>06f2</Index>
+    <Description>F15 lStart H</Description>
+  </Register>
+  <Register fmmu="15">
+    <Index>06f4</Index>
+    <Description>F15 lLength</Description>
+  </Register>
+  <Register fmmu="15">
+    <Index>06f6</Index>
+    <Description>F15 lStartEndBit</Description>
+  </Register>
+  <Register fmmu="15">
+    <Index>06f8</Index>
+    <Description>F15 pStart</Description>
+  </Register>
+  <Register fmmu="15">
+    <Index>06fa</Index>
+    <Description>F15 pStartBit/Dir</Description>
+  </Register>
+  <Register fmmu="15">
+    <Index>06fc</Index>
+    <Description>F15 Enable</Description>
+  </Register>
+  <!--SyncManager-->
+  <Register sm="0">
+    <Index>0800</Index>
+    <Description>SM0 Start</Description>
+  </Register>
+  <Register sm="0">
+    <Index>0802</Index>
+    <Description>SM0 Length</Description>
+  </Register>
+  <Register sm="0">
+    <Index>0804</Index>
+    <Description>SM0 Ctrl/Status</Description>
+  </Register>
+  <Register sm="0">
+    <Index>0806</Index>
+    <Description>SM0 Enable</Description>
+  </Register>
+  <Register sm="1">
+    <Index>0808</Index>
+    <Description>SM1 Start</Description>
+  </Register>
+  <Register sm="1">
+    <Index>080a</Index>
+    <Description>SM1 Length</Description>
+  </Register>
+  <Register sm="1">
+    <Index>080c</Index>
+    <Description>SM1 Ctrl/Status</Description>
+  </Register>
+  <Register sm="1">
+    <Index>080e</Index>
+    <Description>SM1 Enable</Description>
+  </Register>
+  <Register sm="2">
+    <Index>0810</Index>
+    <Description>SM2 Start</Description>
+  </Register>
+  <Register sm="2">
+    <Index>0812</Index>
+    <Description>SM2 Length</Description>
+  </Register>
+  <Register sm="2">
+    <Index>0814</Index>
+    <Description>SM2 Ctrl/Status</Description>
+  </Register>
+  <Register sm="2">
+    <Index>0816</Index>
+    <Description>SM2 Enable</Description>
+  </Register>
+  <Register sm="3">
+    <Index>0818</Index>
+    <Description>SM3 Start</Description>
+  </Register>
+  <Register sm="3">
+    <Index>081a</Index>
+    <Description>SM3 Length</Description>
+  </Register>
+  <Register sm="3">
+    <Index>081c</Index>
+    <Description>SM3 Ctrl/Status</Description>
+  </Register>
+  <Register sm="3">
+    <Index>081e</Index>
+    <Description>SM3 Enable</Description>
+  </Register>
+  <Register sm="4">
+    <Index>0820</Index>
+    <Description>SM4 Start</Description>
+  </Register>
+  <Register sm="4">
+    <Index>0822</Index>
+    <Description>SM4 Length</Description>
+  </Register>
+  <Register sm="4">
+    <Index>0824</Index>
+    <Description>SM4 Ctrl/Status</Description>
+  </Register>
+  <Register sm="4">
+    <Index>0826</Index>
+    <Description>SM4 Enable</Description>
+  </Register>
+  <Register sm="5">
+    <Index>0828</Index>
+    <Description>SM5 Start</Description>
+  </Register>
+  <Register sm="5">
+    <Index>082a</Index>
+    <Description>SM5 Length</Description>
+  </Register>
+  <Register sm="5">
+    <Index>082c</Index>
+    <Description>SM5 Ctrl/Status</Description>
+  </Register>
+  <Register sm="5">
+    <Index>082e</Index>
+    <Description>SM5 Enable</Description>
+  </Register>
+  <Register sm="6">
+    <Index>0830</Index>
+    <Description>SM6 Start</Description>
+  </Register>
+  <Register sm="6">
+    <Index>0832</Index>
+    <Description>SM6 Length</Description>
+  </Register>
+  <Register sm="6">
+    <Index>0834</Index>
+    <Description>SM6 Ctrl/Status</Description>
+  </Register>
+  <Register sm="6">
+    <Index>0836</Index>
+    <Description>SM6 Enable</Description>
+  </Register>
+  <Register sm="7">
+    <Index>0838</Index>
+    <Description>SM7 Start</Description>
+  </Register>
+  <Register sm="7">
+    <Index>083a</Index>
+    <Description>SM7 Length</Description>
+  </Register>
+  <Register sm="7">
+    <Index>083c</Index>
+    <Description>SM7 Ctrl/Status</Description>
+  </Register>
+  <Register sm="7">
+    <Index>083e</Index>
+    <Description>SM7 Enable</Description>
+  </Register>
+  <Register sm="8">
+    <Index>0840</Index>
+    <Description>SM8 Start</Description>
+  </Register>
+  <Register sm="8">
+    <Index>0842</Index>
+    <Description>SM8 Length</Description>
+  </Register>
+  <Register sm="8">
+    <Index>0844</Index>
+    <Description>SM8 Ctrl/Status</Description>
+  </Register>
+  <Register sm="8">
+    <Index>0846</Index>
+    <Description>SM8 Enable</Description>
+  </Register>
+  <Register sm="9">
+    <Index>0848</Index>
+    <Description>SM9 Start</Description>
+  </Register>
+  <Register sm="9">
+    <Index>084a</Index>
+    <Description>SM9 Length</Description>
+  </Register>
+  <Register sm="9">
+    <Index>084c</Index>
+    <Description>SM9 Ctrl/Status</Description>
+  </Register>
+  <Register sm="9">
+    <Index>084e</Index>
+    <Description>SM9 Enable</Description>
+  </Register>
+  <Register sm="10">
+    <Index>0850</Index>
+    <Description>SM10 Start</Description>
+  </Register>
+  <Register sm="10">
+    <Index>0852</Index>
+    <Description>SM10 Length</Description>
+  </Register>
+  <Register sm="10">
+    <Index>0854</Index>
+    <Description>SM10 Ctrl/Status</Description>
+  </Register>
+  <Register sm="10">
+    <Index>0856</Index>
+    <Description>SM10 Enable</Description>
+  </Register>
+  <Register sm="11">
+    <Index>0858</Index>
+    <Description>SM11 Start</Description>
+  </Register>
+  <Register sm="11">
+    <Index>085a</Index>
+    <Description>SM11 Length</Description>
+  </Register>
+  <Register sm="11">
+    <Index>085c</Index>
+    <Description>SM11 Ctrl/Status</Description>
+  </Register>
+  <Register sm="11">
+    <Index>085e</Index>
+    <Description>SM11 Enable</Description>
+  </Register>
+  <Register sm="12">
+    <Index>0860</Index>
+    <Description>SM12 Start</Description>
+  </Register>
+  <Register sm="12">
+    <Index>0862</Index>
+    <Description>SM12 Length</Description>
+  </Register>
+  <Register sm="12">
+    <Index>0864</Index>
+    <Description>SM12 Ctrl/Status</Description>
+  </Register>
+  <Register sm="12">
+    <Index>0866</Index>
+    <Description>SM12 Enable</Description>
+  </Register>
+  <Register sm="13">
+    <Index>0868</Index>
+    <Description>SM13 Start</Description>
+  </Register>
+  <Register sm="13">
+    <Index>086a</Index>
+    <Description>SM13 Length</Description>
+  </Register>
+  <Register sm="13">
+    <Index>086c</Index>
+    <Description>SM13 Ctrl/Status</Description>
+  </Register>
+  <Register sm="13">
+    <Index>086e</Index>
+    <Description>SM13 Enable</Description>
+  </Register>
+  <Register sm="14">
+    <Index>0870</Index>
+    <Description>SM14 Start</Description>
+  </Register>
+  <Register sm="14">
+    <Index>0872</Index>
+    <Description>SM14 Length</Description>
+  </Register>
+  <Register sm="14">
+    <Index>0874</Index>
+    <Description>SM14 Ctrl/Status</Description>
+  </Register>
+  <Register sm="14">
+    <Index>0876</Index>
+    <Description>SM14 Enable</Description>
+  </Register>
+  <Register sm="15">
+    <Index>0878</Index>
+    <Description>SM15 Start</Description>
+  </Register>
+  <Register sm="15">
+    <Index>087a</Index>
+    <Description>SM15 Length</Description>
+  </Register>
+  <Register sm="15">
+    <Index>087c</Index>
+    <Description>SM15 Ctrl/Status</Description>
+  </Register>
+  <Register sm="15">
+    <Index>087e</Index>
+    <Description>SM15 Enable</Description>
+  </Register>
+  <!--DC - Receive Times-->
+  <Register>
+    <Index>0900</Index>
+    <Description>DC RecvTimeL_A</Description>
+  </Register>
+  <Register>
+    <Index>0902</Index>
+    <Description>DC RecvTimeH_A</Description>
+  </Register>
+  <Register>
+    <Index>0904</Index>
+    <Description>DC RecvTimeL_B</Description>
+  </Register>
+  <Register>
+    <Index>0906</Index>
+    <Description>DC RecvTimeH_B</Description>
+  </Register>
+  <Register>
+    <Index>0908</Index>
+    <Description>DC RecvTimeL_C</Description>
+  </Register>
+  <Register>
+    <Index>090a</Index>
+    <Description>DC RecvTimeH_C</Description>
+  </Register>
+  <Register>
+    <Index>090c</Index>
+    <Description>DC RecvTimeL_D</Description>
+  </Register>
+  <Register>
+    <Index>090e</Index>
+    <Description>DC RecvTimeH_D</Description>
+  </Register>
+  <!--DC - Time Loop Control Unit-->
+  <Register>
+    <Index>0910</Index>
+    <Description>DC SysTimeLL</Description>
+  </Register>
+  <Register>
+    <Index>0912</Index>
+    <Description>DC SysTimeLH</Description>
+  </Register>
+  <Register>
+    <Index>0914</Index>
+    <Description>DC SysTimeHL</Description>
+  </Register>
+  <Register>
+    <Index>0916</Index>
+    <Description>DC SysTimeHH</Description>
+  </Register>
+  <Register>
+    <Index>0918</Index>
+    <Description>DC RecvTimeLL_A</Description>
+  </Register>
+  <Register>
+    <Index>091a</Index>
+    <Description>DC RecvTimeLH_A</Description>
+  </Register>
+  <Register>
+    <Index>091c</Index>
+    <Description>DC RecvTimeHL_A</Description>
+  </Register>
+  <Register>
+    <Index>091e</Index>
+    <Description>DC RecvTimeHH_A</Description>
+  </Register>
+  <Register>
+    <Index>0920</Index>
+    <Description>DC SysTimeOffsLL</Description>
+  </Register>
+  <Register>
+    <Index>0922</Index>
+    <Description>DC SysTimeOffsLH</Description>
+  </Register>
+  <Register>
+    <Index>0924</Index>
+    <Description>DC SysTimeOffsHL</Description>
+  </Register>
+  <Register>
+    <Index>0926</Index>
+    <Description>DC SysTimeOffsHH
+</Description>
+  </Register>
+  <Register>
+    <Index>0928</Index>
+    <Description>DC SysTimeDelayL</Description>
+  </Register>
+  <Register>
+    <Index>092a</Index>
+    <Description>DC SysTimeDelayH</Description>
+  </Register>
+  <Register>
+    <Index>092c</Index>
+    <Description>DC CtrlErrorL</Description>
+  </Register>
+  <Register>
+    <Index>092e</Index>
+    <Description>DC CtrlErrorH</Description>
+  </Register>
+  <Register>
+    <Index>0930</Index>
+    <Description>DC SpeedStart</Description>
+  </Register>
+  <Register>
+    <Index>0932</Index>
+    <Description>DC SpeedDiff</Description>
+  </Register>
+  <Register>
+    <Index>0934</Index>
+    <Description>DC FiltExp</Description>
+    <Details>
+      <Detail>
+        <Range>0-7</Range>
+        <Description>System time diff</Description>
+      </Detail>
+      <Detail>
+        <Range>8-15</Range>
+        <Description>Speed counter</Description>
+      </Detail>
+    </Details>
+  </Register>
+  <Register esc="02">
+    <Index>0936</Index>
+    <Description>Receive Time Latch Mode</Description>
+    <Details>
+      <Detail>
+        <Range>0</Range>
+        <Description>Receive Time Latch Mode</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Forwarding mode</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Reverse mode</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <Register esc="12">
+    <Index>0936</Index>
+    <Description>Receive Time Latch Mode</Description>
+    <Details>
+      <Detail>
+        <Range>0</Range>
+        <Description>Receive Time Latch Mode</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Forwarding mode</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Reverse mode</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <!--DC - Cyclic Unit Control / SYNC Out Unit-->
+  <Register>
+    <Index>0980</Index>
+    <Description>DC Assign/Active</Description>
+    <Details>
+      <Detail>
+        <Range>0</Range>
+        <Description>Write access cyclic</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>ECAT</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>PDI</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>4</Range>
+        <Description>Write access Latch 0</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>ECAT</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>PDI</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>5</Range>
+        <Description>Write access Latch 1</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>ECAT</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>PDI</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>8</Range>
+        <Description>Sync out unit activation</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Deactivated</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Activated</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>9</Range>
+        <Description>Generate SYNC 0</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>10</Range>
+        <Description>Generate SYNC 1</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>11</Range>
+        <Description>Auto activation</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>12</Range>
+        <Description>Start time extension 32-&gt;64</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>13</Range>
+        <Description>Start time check</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>14</Range>
+        <Description>Half range</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>15</Range>
+        <Description>Debuspulse</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <Register>
+    <Index>0982</Index>
+    <Description>DC CycImpulse</Description>
+  </Register>
+  <Register>
+    <Index>0984</Index>
+    <Description>DC Activation Status</Description>
+    <Details>
+      <Detail esc="04">
+        <Range>0</Range>
+        <Description>SYNC0 pending</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail esc="04">
+        <Range>1</Range>
+        <Description>SYNC1 pending</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail esc="04">
+        <Range>2</Range>
+        <Description>Start Time</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Within near future</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Out of near future</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <Register>
+    <Index>098e</Index>
+    <Description>DC CycSync State</Description>
+    <Details>
+      <Detail>
+        <Range>0</Range>
+        <Description>SYNC 0 triggered</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>8</Range>
+        <Description>SYNC 1 triggered</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <Register>
+    <Index>0990</Index>
+    <Description>DC StartTime0 LL</Description>
+  </Register>
+  <Register>
+    <Index>0992</Index>
+    <Description>DC StartTime0 LH</Description>
+  </Register>
+  <Register>
+    <Index>0994</Index>
+    <Description>DC StartTime0 HL</Description>
+  </Register>
+  <Register>
+    <Index>0996</Index>
+    <Description>DC StartTime0 HH</Description>
+  </Register>
+  <Register>
+    <Index>0998</Index>
+    <Description>DC StartTime1 LL</Description>
+  </Register>
+  <Register>
+    <Index>099a</Index>
+    <Description>DC StartTime1 LH</Description>
+  </Register>
+  <Register>
+    <Index>099c</Index>
+    <Description>DC StartTime1 HL</Description>
+  </Register>
+  <Register>
+    <Index>099e</Index>
+    <Description>DC StartTime1 HH</Description>
+  </Register>
+  <Register>
+    <Index>09a0</Index>
+    <Description>DC CycTime0 L</Description>
+  </Register>
+  <Register>
+    <Index>09a2</Index>
+    <Description>DC CycTime0 H</Description>
+  </Register>
+  <Register>
+    <Index>09a4</Index>
+    <Description>DC CycTime1 L</Description>
+  </Register>
+  <Register>
+    <Index>09a6</Index>
+    <Description>DC CycTime1 H</Description>
+  </Register>
+  <!--DC - Latch In Unit-->
+  <Register>
+    <Index>09a8</Index>
+    <Description>DC Latch Ctrl</Description>
+    <Details>
+      <Detail>
+        <Range>0</Range>
+        <Description>Latch 0 pos</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Continuous</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Single event</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>1</Range>
+        <Description>Latch 0 neg</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Continuous</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Single event</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>8</Range>
+        <Description>Latch 1 pos</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Continuous</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Single event</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>9</Range>
+        <Description>Latch 1 neg</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Continuous</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Single event</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <Register>
+    <Index>09ae</Index>
+    <Description>DC Latch Status</Description>
+    <Details>
+      <Detail>
+        <Range>0</Range>
+        <Description>Event Latch 0 pos</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>1</Range>
+        <Description>Event Latch 0 neg</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>2</Range>
+        <Description>Latch 0 pin state</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>8</Range>
+        <Description>Event Latch 1 pos</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>9</Range>
+        <Description>Event Latch 1 neg</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>10</Range>
+        <Description>Latch 1 pin state</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>FALSE</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>TRUE</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <Register>
+    <Index>09b0</Index>
+    <Description>DC Latch0 Pos LL</Description>
+  </Register>
+  <Register>
+    <Index>09b2</Index>
+    <Description>DC Latch0 Pos LH</Description>
+  </Register>
+  <Register>
+    <Index>09b4</Index>
+    <Description>DC Latch0 Pos HL</Description>
+  </Register>
+  <Register>
+    <Index>09b6</Index>
+    <Description>DC Latch0 Pos HH</Description>
+  </Register>
+  <Register>
+    <Index>09b8</Index>
+    <Description>DC Latch0 Neg LL</Description>
+  </Register>
+  <Register>
+    <Index>09ba</Index>
+    <Description>DC Latch0 Neg LH</Description>
+  </Register>
+  <Register>
+    <Index>09bc</Index>
+    <Description>DC Latch0 Neg HL</Description>
+  </Register>
+  <Register>
+    <Index>09be</Index>
+    <Description>DC Latch0 Neg HH</Description>
+  </Register>
+  <Register>
+    <Index>09c0</Index>
+    <Description>DC Latch1 Pos LL</Description>
+  </Register>
+  <Register>
+    <Index>09c2</Index>
+    <Description>DC Latch1 Pos LH</Description>
+  </Register>
+  <Register>
+    <Index>09c4</Index>
+    <Description>DC Latch1 Pos HL</Description>
+  </Register>
+  <Register>
+    <Index>09c6</Index>
+    <Description>DC Latch1 Pos HH</Description>
+  </Register>
+  <Register>
+    <Index>09c8</Index>
+    <Description>DC Latch1 Neg LL</Description>
+  </Register>
+  <Register>
+    <Index>09ca</Index>
+    <Description>DC Latch1 Neg LH</Description>
+  </Register>
+  <Register>
+    <Index>09cc</Index>
+    <Description>DC Latch1 Neg HL</Description>
+  </Register>
+  <Register>
+    <Index>09ce</Index>
+    <Description>DC Latch1 Neg HH</Description>
+  </Register>
+  <!--DC - SyncManager Event Times-->
+  <Register>
+    <Index>09f0</Index>
+    <Description>DC RecvSMChange L</Description>
+  </Register>
+  <Register>
+    <Index>09f2</Index>
+    <Description>DC RecvSMChange H</Description>
+  </Register>
+  <Register>
+    <Index>09f8</Index>
+    <Description>DC PDISMStart L</Description>
+  </Register>
+  <Register>
+    <Index>09fa</Index>
+    <Description>DC PDISMStart H</Description>
+  </Register>
+  <Register>
+    <Index>09fc</Index>
+    <Description>DC PDISMChange L</Description>
+  </Register>
+  <Register>
+    <Index>09fe</Index>
+    <Description>DC PDISMChange H</Description>
+  </Register>
+  <!--ESC specific-->
+  <Register esc="04">
+    <Index>0e00</Index>
+    <Description>Product ID</Description>
+  </Register>
+  <Register esc="04">
+    <Index>0e02</Index>
+    <Description>Product ID</Description>
+  </Register>
+  <Register esc="04">
+    <Index>0e04</Index>
+    <Description>Product ID
+</Description>
+  </Register>
+  <Register esc="04">
+    <Index>0e06</Index>
+    <Description>Product ID</Description>
+  </Register>
+  <Register esc="04">
+    <Index>0e08</Index>
+    <Description>Vendor ID
+</Description>
+  </Register>
+  <Register esc="04">
+    <Index>0e0a</Index>
+    <Description>Vendor ID</Description>
+  </Register>
+  <Register esc="04">
+    <Index>0e0c</Index>
+    <Description>Vendor ID</Description>
+  </Register>
+  <Register esc="04">
+    <Index>0e0e</Index>
+    <Description>Vendor ID</Description>
+  </Register>
+  <Register esc="11">
+    <Index>0e00</Index>
+    <Description>Power On</Description>
+    <Details>
+      <Detail>
+        <Range>0-1</Range>
+        <Description>Port mode</Description>
+        <Enum>
+          <item>
+            <value>00</value>
+            <Description>Port 0, 1</Description>
+          </item>
+          <item>
+            <value>01</value>
+            <Description>Port 0, 1, 2</Description>
+          </item>
+          <item>
+            <value>10</value>
+            <Description>Port 0, 1, 3</Description>
+          </item>
+          <item>
+            <value>11</value>
+            <Description>Port 0, 1, 2, 3</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>2</Range>
+        <Description>Logical port 0</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>EBUS</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>MII</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>3</Range>
+        <Description>Logical port 1</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>EBUS</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>MII</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>4</Range>
+        <Description>Logical port 2</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>EBUS</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>MII</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>5</Range>
+        <Description>Logical port 3</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>EBUS</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>MII</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>6-7</Range>
+        <Description>CPU clock output</Description>
+        <Enum>
+          <item>
+            <value>00</value>
+            <Description>Off - PDI[7] available as PDI port</Description>
+          </item>
+          <item>
+            <value>01</value>
+            <Description>PDI[7]=25MHz</Description>
+          </item>
+          <item>
+            <value>10</value>
+            <Description>PDI[7]=20MHz</Description>
+          </item>
+          <item>
+            <value>11</value>
+            <Description>PDI[7]=10MHz</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>8-9</Range>
+        <Description>TX signal shift</Description>
+        <Enum>
+          <item>
+            <value>00</value>
+            <Description>MII TX shifted 0</Description>
+          </item>
+          <item>
+            <value>01</value>
+            <Description>MII TX shifted 90</Description>
+          </item>
+          <item>
+            <value>10</value>
+            <Description>MII TX shifted 180</Description>
+          </item>
+          <item>
+            <value>11</value>
+            <Description>MII TX shifted 270</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>10</Range>
+        <Description>Clock 25 output</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Disabled</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Enabled</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>11</Range>
+        <Description>Transparent mode MII</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Disabled</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Enabled</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>12</Range>
+        <Description>Digital Ctrl/Status move</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>PDI[39:32]</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>the highest available PDI Byte</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>13</Range>
+        <Description>Phy offset</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>No offset</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>16 offset</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>14</Range>
+        <Description>Phy link polarity</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Active low</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Active high</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <Register esc="12">
+    <Index>0e00</Index>
+    <Description>Power On</Description>
+    <Details>
+      <Detail>
+        <Range>0-1</Range>
+        <Description>Chip mode</Description>
+        <Enum>
+          <item>
+            <value>00</value>
+            <Description>Port0:EBUS, Port1:EBUS, 18bit PDI</Description>
+          </item>
+          <item>
+            <value>10</value>
+            <Description>Port0:MII, Port1:EBUS, 8bit PDI</Description>
+          </item>
+          <item>
+            <value>11</value>
+            <Description>Port0:EBUS, Port1:MII, 8bit PDI</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>2-3</Range>
+        <Description>CPU clock output</Description>
+        <Enum>
+          <item>
+            <value>00</value>
+            <Description>Off - PDI[7] available as PDI port</Description>
+          </item>
+          <item>
+            <value>01</value>
+            <Description>PDI[7]=25MHz</Description>
+          </item>
+          <item>
+            <value>10</value>
+            <Description>PDI[7]=20MHz</Description>
+          </item>
+          <item>
+            <value>11</value>
+            <Description>PDI[7]=10MHz</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>4-5</Range>
+        <Description>TX signal shift</Description>
+        <Enum>
+          <item>
+            <value>00</value>
+            <Description>MII TX signals shifted by 0</Description>
+          </item>
+          <item>
+            <value>01</value>
+            <Description>MII TX signals shifted by 90</Description>
+          </item>
+          <item>
+            <value>10</value>
+            <Description>MII TX signals shifted by 180</Description>
+          </item>
+          <item>
+            <value>11</value>
+            <Description>MII TX signals shifted by 270</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>6</Range>
+        <Description>CLK25 Output Enable</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>Disabled</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>Enabled</Description>
+          </item>
+        </Enum>
+      </Detail>
+      <Detail>
+        <Range>7</Range>
+        <Description>Phy address offset</Description>
+        <Enum>
+          <item>
+            <value>0</value>
+            <Description>No offset</Description>
+          </item>
+          <item>
+            <value>1</value>
+            <Description>16 offset</Description>
+          </item>
+        </Enum>
+      </Detail>
+    </Details>
+  </Register>
+  <!--ESC specific I/O-->
+  <Register>
+    <Index>0f00</Index>
+    <Description>Digital Out L</Description>
+  </Register>
+  <Register>
+    <Index>0f02</Index>
+    <Description>Digital Out H</Description>
+  </Register>
+  <Register>
+    <Index>0f10</Index>
+    <Description>GPO LL</Description>
+  </Register>
+  <Register>
+    <Index>0f12</Index>
+    <Description>GPO LH</Description>
+  </Register>
+  <Register>
+    <Index>0f14</Index>
+    <Description>GPO HL</Description>
+  </Register>
+  <Register>
+    <Index>0f16</Index>
+    <Description>GPO HH</Description>
+  </Register>
+  <Register>
+    <Index>0f18</Index>
+    <Description>GPI LL</Description>
+  </Register>
+  <Register>
+    <Index>0f1a</Index>
+    <Description>GPI LH</Description>
+  </Register>
+  <Register>
+    <Index>0f1c</Index>
+    <Description>GPI HL</Description>
+  </Register>
+  <Register>
+    <Index>0f1e</Index>
+    <Description>GPI HH</Description>
+  </Register>
+  <!--User RAM-->
+  <Register>
+    <Index>0f80</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0f82</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0f84</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0f86</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0f88</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0f8a</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0f8c</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0f8e</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0f90</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0f92</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0f94</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0f96</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0f98</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0f9a</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0f9c</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0f9e</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0fa0</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0fa2</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0fa4</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0fa6</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0fa8</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0faa</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0fac</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0fae</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0fb0</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0fb2</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0fb4</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0fb6</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0fb8</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0fba</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0fbc</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0fbe</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0fc0</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0fc2</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0fc4</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0fc6</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0fc8</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0fca</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0fcc</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0fce</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0fd0</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0fd2</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0fd4</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0fd6</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0fd8</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0fda</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0fdc</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0fde</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0fe0</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0fe2</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0fe4</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0fe6</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0fe8</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0fea</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0fec</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0fee</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0ff0</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0ff2</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0ff4</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0ff6</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0ff8</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0ffa</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0ffc</Index>
+    <Description>User Ram</Description>
+  </Register>
+  <Register>
+    <Index>0ffe</Index>
+    <Description>User Ram</Description>
+  </Register>
+</RegisterInfo>
\ No newline at end of file
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/etherlab/runtime_etherlab.py	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,108 @@
+import os,subprocess,sys,ctypes
+from threading import Thread
+import ctypes,time,re
+from targets.typemapping import LogLevelsDict
+
+SDOAnswered = PLCBinary.SDOAnswered
+SDOAnswered.restype = None
+SDOAnswered.argtypes = []
+
+SDOThread = None
+SDOProc = None
+Result = None
+
+def SDOThreadProc(*params):
+    global Result, SDOProc
+    if params[0] == "upload":
+        cmdfmt = "ethercat upload -p %d -t %s 0x%.4x 0x%.2x"
+    else:
+        cmdfmt = "ethercat download -p %d -t %s 0x%.4x 0x%.2x %s"
+    
+    command = cmdfmt % params[1:]
+    SDOProc = subprocess.Popen(command, stdout=subprocess.PIPE, shell=True)
+    res = SDOProc.wait()
+    output = SDOProc.communicate()[0]
+    
+    if params[0] == "upload":
+        Result = None
+        if res == 0:
+            if params[2] in ["float", "double"]:
+                Result = float(output)
+            elif params[2] in ["string", "octet_string", "unicode_string"]:
+                Result = output
+            else:
+                hex_value, dec_value = output.split()
+                if int(hex_value, 16) == int(dec_value):
+                    Result = int(dec_value)
+    else:
+        Result = res == 0
+    
+    SDOAnswered()
+    if res != 0 :
+        PLCObject.LogMessage(
+            LogLevelsDict["WARNING"], 
+            "%s : %s"%(command,output))
+    
+def EthercatSDOUpload(pos, index, subindex, var_type):
+    global SDOThread
+    SDOThread = Thread(target=SDOThreadProc, args=["upload", pos, var_type, index, subindex])
+    SDOThread.start()
+    
+def EthercatSDODownload(pos, index, subindex, var_type, value):
+    global SDOThread
+    SDOThread = Thread(target=SDOThreadProc, args=["download", pos, var_type, index, subindex, value])
+    SDOThread.start()
+
+def GetResult():
+    global Result
+    return Result
+
+KMSGPollThread=None
+StopKMSGThread=False
+def KMSGPollThreadProc():
+    """
+    Logs Kernel messages starting with EtherCAT
+    Uses GLibc wrapper to Linux syscall "klogctl"
+    Last 4 KB are polled, and lines compared to last 
+    captured line to detect new lines
+    """
+    global StopKMSGThread
+    libc=ctypes.CDLL("libc.so.6")
+    klog = libc.klogctl
+    klog.argtypes = [ctypes.c_int, ctypes.c_char_p, ctypes.c_int]
+    klog.restype = ctypes.c_int
+    s=ctypes.create_string_buffer(4*1024)
+    last = None
+    while not StopKMSGThread:
+        l = klog(3,s,len(s)-1)
+        log = s.value[:l-1]
+        if last :
+            log = log.rpartition(last)[2]
+        if log : 
+            last = log.rpartition('\n')[2]
+            for lvl,msg in re.findall(
+                            r'<(\d)>\[\s*\d*\.\d*\]\s*(EtherCAT\s*.*)$',
+                            log, re.MULTILINE):
+                PLCObject.LogMessage(
+                    LogLevelsDict[{
+                        "4":"WARNING",
+                        "3":"CRITICAL"}.get(lvl,"DEBUG")],
+                    msg)
+        time.sleep(0.5) 
+
+def _runtime_etherlab_init():
+    global KMSGPollThread, StopKMSGThread
+    StopKMSGThread = False
+    KMSGPollThread = Thread(target = KMSGPollThreadProc)
+    KMSGPollThread.start()
+
+def _runtime_etherlab_cleanup():
+    global KMSGPollThread, StopKMSGThread, SDOProc, SDOThread
+    try:
+        os.kill(SDOProc.pid, SIGTERM)
+    except:
+        pass
+    SDOThread = None
+    StopKMSGThread = True
+    KMSGPollThread = None
+
--- a/features.py	Mon Jun 11 08:34:15 2018 +0200
+++ b/features.py	Sat Jun 23 09:08:13 2018 +0200
@@ -1,35 +1,23 @@
 #!/usr/bin/env python
 # -*- coding: utf-8 -*-
 
-# This file is part of Beremiz, a Integrated Development Environment for
-# programming IEC 61131-3 automates supporting plcopen standard and CanFestival.
+# This file is part of Beremiz
 #
-# Copyright (C) 2007: Edouard TISSERANT and Laurent BESSARD
+# Copyright (C) 2007: Laurent BESSARD
+# Copyright (C) 2007-2018: Edouard TISSERANT
 #
 # See COPYING file for copyrights details.
-#
-# This program is free software; you can redistribute it and/or
-# modify it under the terms of the GNU General Public License
-# as published by the Free Software Foundation; either version 2
-# of the License, or (at your option) any later version.
-#
-# This program is distributed in the hope that it will be useful,
-# but WITHOUT ANY WARRANTY; without even the implied warranty of
-# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-# GNU General Public License for more details.
-#
-# You should have received a copy of the GNU General Public License
-# along with this program; if not, write to the Free Software
-# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 
 libraries = [
     ('Native', 'NativeLib.NativeLibrary'),
     ('Python', 'py_ext.PythonLibrary'),
+    ('Etherlab', 'etherlab.EthercatMaster.EtherlabLibrary'),
     ('SVGUI', 'svgui.SVGUILibrary')]
 
 catalog = [
     ('canfestival', _('CANopen support'), _('Map located variables over CANopen'), 'canfestival.canfestival.RootClass'),
     ('bacnet', _('Bacnet support'), _('Map located variables over Bacnet'), 'bacnet.bacnet.RootClass'),
+    ('etherlab', _('EtherCAT master'), _('Map located variables over EtherCAT'), 'etherlab.etherlab.RootClass'),
     ('modbus', _('Modbus support'), _('Map located variables over Modbus'), 'modbus.modbus.RootClass'),
     ('c_ext', _('C extension'), _('Add C code accessing located variables synchronously'), 'c_ext.CFile'),
     ('py_ext', _('Python file'), _('Add Python code executed asynchronously'), 'py_ext.PythonFile'),
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/ethercat/wago_higen/beremiz.xml	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<BeremizRoot>
+  <TargetType/>
+</BeremizRoot>
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/ethercat/wago_higen/ethercat@etherlab/baseconfnode.xml	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<BaseParams Name="ethercat" IEC_Channel="0"/>
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/ethercat/wago_higen/ethercat@etherlab/confnode.xml	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<EtherlabInstance/>
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/baseconfnode.xml	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<BaseParams Name="master" IEC_Channel="0"/>
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/config.xml	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,127 @@
+<?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>
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/confnode.xml	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<EtherlabNode/>
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/coupler@EthercatSlave/baseconfnode.xml	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<BaseParams Name="coupler" IEC_Channel="0"/>
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/coupler@EthercatSlave/confnode.xml	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<SlaveParams/>
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/higen@EthercatCIA402Slave/baseconfnode.xml	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<BaseParams Name="higen" IEC_Channel="3"/>
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/higen@EthercatCIA402Slave/confnode.xml	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,2 @@
+<?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"/>
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/inputs@EthercatSlave/baseconfnode.xml	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<BaseParams Name="inputs" IEC_Channel="1"/>
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/inputs@EthercatSlave/confnode.xml	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<SlaveParams/>
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/outputs@EthercatSlave/baseconfnode.xml	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<BaseParams Name="outputs" IEC_Channel="2"/>
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/outputs@EthercatSlave/confnode.xml	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<SlaveParams/>
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/ethercat/wago_higen/ethercat@etherlab/master@EthercatNode/process_variables.xml	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<ProcessVariables xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"/>
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/ethercat/wago_higen/ethercat@etherlab/modules/Beckhoff EKxxxx.xml	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,776 @@
+<?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>
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+					<Name>Channel 5</Name>
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+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1609</Index>
+					<Name>Channel 6</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 7</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 8</Name>
+					<Entry>
+						<Index>#x70B0</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>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>040D00000A003000	
+</ConfigData>
+				</Eeprom>
+				<ImageData16x14>424DD6020000000000003600000028000000100000000E0000000100180000000000A0020000C40E0000C40E00000000000000000000FF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080808080808080808080808080808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000BFFF00BFFFC0C0C0808080C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000BFFF00BFFFC0C0C0808080C0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000BFFF00BFFFC0C0C0808080C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000BFFF00BFFFC0C0C0808080C0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000BFFF00BFFFC0C0C0808080C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000BFFF00BFFFC0C0C0808080C0C0C0000000C0C0C0000000808080007FFF007FFF007FFF007FFF007FFFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0C0C0C0C0C0C0C0C0C0808080007FFF007FFF007FFF007FFF007FFFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0C0C0C0C0C0C0C0C0C0808080007FFF007FFF007FFF007FFF007FFFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0008000C0C0C0008000808080007FFF007FFF007FFF007FFF007FFFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0C0C0C0C0C0C0C0C0C0808080007FFF007FFF007FFF007FFF007FFF</ImageData16x14>
+			</Device>
+			<Device Physics="YKY">
+				<Type ProductCode="#x044C6032" RevisionNo="#x00000004">CX1100-0004</Type>
+				<Name LcId="1033"><![CDATA[CX1100-0004 EtherCAT Power supply (2A E-Bus)]]></Name>
+				<Name LcId="1031"><![CDATA[CX1100-0004 EtherCAT Netzteil (2A E-Bus)]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/CX]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/CX]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>-2000</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>SystemBk</GroupType>
+				<Eeprom>
+					<ByteSize>256</ByteSize>
+					<ConfigData>0001</ConfigData>
+				</Eeprom>
+				<ImageData16x14>424DD6020000000000003600000028000000100000000E0000000100180000000000A0020000C40E0000C40E00000000000000000000FF00FFFF00FFFF00FFFF00FF404040404040808080808080808080808080808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C000FFFFC0C0C000FFFF808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C0FF0000C0C0C0FF0000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C00000FFC0C0C00000FF808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C0008000C0C0C0008000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FF</ImageData16x14>
+			</Device>
+			<Device Physics="YK">
+				<Type ProductCode="#x044C6032" RevisionNo="#x00010004">CX1100-0004</Type>
+				<HideType RevisionNo="#x00000004"/>
+				<Name LcId="1033"><![CDATA[CX1100-0004 EtherCAT Power supply (2A E-Bus)]]></Name>
+				<Name LcId="1031"><![CDATA[CX1100-0004 EtherCAT Netzteil (2A E-Bus)]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/CX]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/CX]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>-2000</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>SystemBk</GroupType>
+				<Eeprom>
+					<ByteSize>256</ByteSize>
+					<ConfigData>0001</ConfigData>
+				</Eeprom>
+				<ImageData16x14>424DD6020000000000003600000028000000100000000E0000000100180000000000A0020000C40E0000C40E00000000000000000000FF00FFFF00FFFF00FFFF00FF404040404040808080808080808080808080808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C000FFFFC0C0C000FFFF808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C0FF0000C0C0C0FF0000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C00000FFC0C0C00000FF808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C0008000C0C0C0008000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FF</ImageData16x14>
+			</Device>
+		</Devices>
+	</Descriptions>
+</EtherCATInfo>
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/ethercat/wago_higen/ethercat@etherlab/modules/Beckhoff EL1xxx.xml	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,5333 @@
+<?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="310">
+				<Type>DigIn</Type>
+				<Name LcId="1033">Digital Input Terminals (EL1xxx)</Name>
+				<Name LcId="1031">Digitale Eingangsklemmen (EL1xxx)</Name>
+				<ImageData16x14>424DD6020000000000003600000028000000100000000E0000000100180000000000A0020000C40E0000C40E00000000000000000000FF00FFFF00FFFF00FFFF00FFFF00FFFF00FF808080808080808080808080808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000FFFFC0C0C000FFFF808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0FF0000C0C0C0FF0000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFFC0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFFC0C0C00000FFC0C0C00000FF808080FF00FFFF00FFFF00FFFF00FFFF00FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFFC0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFFC0C0C0008000C0C0C0008000808080FF00FFFF00FFFF00FFFF00FFFF00FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FF</ImageData16x14>
+			</Group>
+		</Groups>
+		<Devices>
+			<Device Physics="KK">
+				<Type ProductCode="#x03ea3052" RevisionNo="#x00000000">EL1002</Type>
+				<HideType RevisionNo="#x27070000" ProductRevision="EL1002-0000-9991"/>
+				<HideType RevisionNo="#x27080000" ProductRevision="EL1002-0000-9992"/>
+				<HideType RevisionNo="#x270b0000" ProductRevision="EL1002-0000-9995"/>
+				<Name LcId="1033"><![CDATA[EL1002 2Ch. Dig. Input 24V, 3ms]]></Name>
+				<Name LcId="1031"><![CDATA[EL1002 2K. Dig. Eingang 24V, 3ms]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1002]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1002]]></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="#x03ea3052" RevisionNo="#x00100000">EL1002</Type>
+				<HideType RevisionNo="#x00000000" ProductRevision="EL1002-0000-0000"/>
+				<Name LcId="1033"><![CDATA[EL1002 2Ch. Dig. Input 24V, 3ms]]></Name>
+				<Name LcId="1031"><![CDATA[EL1002 2K. Dig. Eingang 24V, 3ms]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1002]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1002]]></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="#x03ec3052" RevisionNo="#x00000000">EL1004</Type>
+				<HideType RevisionNo="#x27070000" ProductRevision="EL1004-0000-9991"/>
+				<HideType RevisionNo="#x27080000" ProductRevision="EL1004-0000-9992"/>
+				<HideType RevisionNo="#x270b0000" ProductRevision="EL1004-0000-9995"/>
+				<Name LcId="1033"><![CDATA[EL1004 4Ch. Dig. Input 24V, 3ms]]></Name>
+				<Name LcId="1031"><![CDATA[EL1004 4K. Dig. Eingang 24V, 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>
+				<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="#x03ec3052" RevisionNo="#x00100000">EL1004</Type>
+				<HideType RevisionNo="#x00000000" ProductRevision="EL1004-0000-0000"/>
+				<Name LcId="1033"><![CDATA[EL1004 4Ch. Dig. Input 24V, 3ms]]></Name>
+				<Name LcId="1031"><![CDATA[EL1004 4K. Dig. Eingang 24V, 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>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="#x03EC3052" RevisionNo="#x0000000A">EL1004-0010</Type>
+				<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>
+				<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="#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>
+						<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="#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>
+						<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="#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>
+						<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="#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>
+				<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="#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>
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+				<TxPdo Fixed="1" Su="1" Virtual="true">
+					<Index>#x1a10</Index>
+					<Name>Latch</Name>
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+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Sm="0" Su="0" Mandatory="1">
+					<Index>#x1a02</Index>
+					<Name>Reserved</Name>
+				</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>0401400000000000</ConfigData>
+				</Eeprom>
+				<VendorSpecific>
+					<TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
+				</VendorSpecific>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x04E43052" RevisionNo="#x00120000">EL1252</Type>
+				<HideType RevisionNo="#x00110000" ProductRevision="EL1252-0000-0011"/>
+				<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>
+					<VendorSpecific>
+						<TwinCAT>
+							<AlternativeSmMapping Default="1">
+								<Name>Standard (MDP 125)</Name>
+								<Sm No="0">
+									<Pdo>#x1a00</Pdo>
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+							<AlternativeSmMapping>
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+					</VendorSpecific>
+				</Info>
+				<GroupType>DigIn</GroupType>
+				<Profile>
+					<ProfileNo>5001</ProfileNo>
+					<AddInfo>125</AddInfo>
+					<ChannelCount>2</ChannelCount>
+				</Profile>
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+				<Sm StartAddress="#x09ae" Virtual="true">Inputs</Sm>
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+						<ShiftTimeSync0>0</ShiftTimeSync0>
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+				<VendorSpecific>
+					<TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
+				</VendorSpecific>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x04E43052" RevisionNo="#x00130000">EL1252</Type>
+				<HideType RevisionNo="#x00110000"/>
+				<HideType RevisionNo="#x00120000"/>
+				<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>
+					<VendorSpecific>
+						<TwinCAT>
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+									<Pdo>#x1a00</Pdo>
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+				<GroupType>DigIn</GroupType>
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+						<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>
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+					</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>
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+					<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>
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+					</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>
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+					</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="#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>
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+						<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>
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+					<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>
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+						<Name>Status1</Name>
+						<DataType>USINT</DataType>
+					</Entry>
+					<Entry>
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+					<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>
+					<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"/>
+				<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="#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>
+					<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="#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>
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/ethercat/wago_higen/ethercat@etherlab/modules/Beckhoff EL2xxx.xml	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,92654 @@
+<?xml version="1.0"?>
+<EtherCATInfo xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd" Version="1.2">
+	<Vendor>
+		<Id>2</Id>
+		<Name>Beckhoff Automation GmbH</Name>
+		<ImageData16x14>424DE6000000000000007600000028000000100000000E000000010004000000000070000000120B0000120B0000100000001000000000000000000080000080000000808000800000008000800080800000C0C0C000808080000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF009D9DD99DD9DDD9DD9D9D9DD9D9DDD9DD999D9DD9D999D9999D9D9DD9D9DDD9DD9D9DD99DD999D999DDDDDDDDDDDDDDDD88888888888888888888888888888888DDDDDDDDDDDDDDDD999D999DD99DD9D99D9D9DDD9DD9D9D999DD999D9DDDD99D9D9D9DDD9DD9D99D999D999DD99DD9D9</ImageData16x14>
+	</Vendor>
+	<Descriptions>
+		<Groups>
+			<Group SortOrder="320">
+				<Type>DigOut</Type>
+				<Name LcId="1033">Digital Output Terminals (EL2xxx)</Name>
+				<Name LcId="1031">Digitale Ausgangklemmen (EL2xxx)</Name>
+				<ImageData16x14>424DD6020000000000003600000028000000100000000E0000000100180000000000A0020000120B0000120B00000000000000000000FF00FFFF00FFFF00FFFF00FFFF00FFFF00FF808080808080808080808080808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000FFFFC0C0C000FFFF808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0FF0000C0C0C0FF0000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FF0000FF0000FF0000FF0000FF0000FF0000FFC0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FF0000FF0000FF0000FF0000FF0000FF0000FFC0C0C00000FFC0C0C00000FF808080FF00FFFF00FFFF00FFFF00FFFF00FF0000FF0000FF0000FF0000FF0000FF0000FFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FF0000FF0000FF0000FF0000FF0000FF0000FFC0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FF0000FF0000FF0000FF0000FF0000FF0000FFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FF0000FF0000FF0000FF0000FF0000FF0000FFC0C0C0008000C0C0C0008000808080FF00FFFF00FFFF00FFFF00FFFF00FF0000FF0000FF0000FF0000FF0000FF0000FFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FF</ImageData16x14>
+			</Group>
+		</Groups>
+		<Devices>
+			<Device Physics="KK">
+				<Type ProductCode="#x07d23052" RevisionNo="#x00000000">EL2002</Type>
+				<HideType RevisionNo="#x27070000" ProductRevision="EL2002-0000-9991"/>
+				<HideType RevisionNo="#x27080000" ProductRevision="EL2002-0000-9992"/>
+				<HideType RevisionNo="#x270b0000" ProductRevision="EL2002-0000-9995"/>
+				<Name LcId="1033"><![CDATA[EL2002 2Ch. Dig. Output 24V, 0.5A]]></Name>
+				<Name LcId="1031"><![CDATA[EL2002 2K. Dig. Ausgang 24V, 0.5A]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2002]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2002]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x3001</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x3001</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0201</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x07d23052" RevisionNo="#x00100000">EL2002</Type>
+				<HideType RevisionNo="#x00000000" ProductRevision="EL2002-0000-0000"/>
+				<Name LcId="1033"><![CDATA[EL2002 2Ch. Dig. Output 24V, 0.5A]]></Name>
+				<Name LcId="1031"><![CDATA[EL2002 2K. Dig. Ausgang 24V, 0.5A]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2002]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2002]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>100</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x07d43052" RevisionNo="#x00000000">EL2004</Type>
+				<HideType RevisionNo="#x27070000" ProductRevision="EL2004-0000-9991"/>
+				<HideType RevisionNo="#x27080000" ProductRevision="EL2004-0000-9992"/>
+				<HideType RevisionNo="#x270b0000" ProductRevision="EL2004-0000-9995"/>
+				<Name LcId="1033"><![CDATA[EL2004 4Ch. Dig. Output 24V, 0.5A]]></Name>
+				<Name LcId="1031"><![CDATA[EL2004 4K. Dig. Ausgang 24V, 0.5A]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2004]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2004]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x3001</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x3001</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x3001</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x3001</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0201</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x07d43052" RevisionNo="#x00100000">EL2004</Type>
+				<HideType RevisionNo="#x00000000" ProductRevision="EL2004-0000-0000"/>
+				<Name LcId="1033"><![CDATA[EL2004 4Ch. Dig. Output 24V, 0.5A]]></Name>
+				<Name LcId="1031"><![CDATA[EL2004 4K. Dig. Ausgang 24V, 0.5A]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2004]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2004]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>100</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x07d83052" RevisionNo="#x00100000">EL2008</Type>
+				<Name LcId="1033"><![CDATA[EL2008 8Ch. Dig. Output 24V, 0.5A]]></Name>
+				<Name LcId="1031"><![CDATA[EL2008 8K. Dig. Ausgang 24V, 0.5A]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2008]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2008]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>110</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1604</Index>
+					<Name>Channel 5</Name>
+					<Entry>
+						<Index>#x7040</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1605</Index>
+					<Name>Channel 6</Name>
+					<Entry>
+						<Index>#x7050</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1606</Index>
+					<Name>Channel 7</Name>
+					<Entry>
+						<Index>#x7060</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1607</Index>
+					<Name>Channel 8</Name>
+					<Entry>
+						<Index>#x7070</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x07e63052" RevisionNo="#x00100000">EL2022</Type>
+				<Name LcId="1033"><![CDATA[EL2022 2Ch. Dig. Output 24V, 2A]]></Name>
+				<Name LcId="1031"><![CDATA[EL2022 2K. Dig. Ausgang 24V, 2A]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2202]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2202]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>100</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x07e83052" RevisionNo="#x00100000">EL2024</Type>
+				<Name LcId="1033"><![CDATA[EL2024 4Ch. Dig. Output 24V, 2A]]></Name>
+				<Name LcId="1031"><![CDATA[EL2024 4K. Dig. Ausgang 24V, 2A]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2024]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2024]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>120</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x07e83052" RevisionNo="#x0010000A">EL2024-0010</Type>
+				<Name LcId="1033"><![CDATA[EL2024-0010 4Ch. Dig. Output 12V, 2A]]></Name>
+				<Name LcId="1031"><![CDATA[EL2024-0010 4K. Dig. Ausgang 12V, 2A]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2024]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2024]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>120</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm DefaultSize="1" StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x07f03052" RevisionNo="#x00000000">EL2032</Type>
+				<HideType RevisionNo="#x27070000" ProductRevision="EL2032-0000-9991"/>
+				<HideType RevisionNo="#x27080000" ProductRevision="EL2032-0000-9992"/>
+				<HideType RevisionNo="#x270b0000" ProductRevision="EL2032-0000-9995"/>
+				<Name LcId="1033"><![CDATA[EL2032 2Ch. Dig. Output 24V, 2A Diag]]></Name>
+				<Name LcId="1031"><![CDATA[EL2032 2K. Dig. Ausgang 24V, 2A Diag]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2032]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2032]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>120</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Sm StartAddress="#x1000" ControlByte="0" Enable="0">Inputs</Sm>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x3001</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x3001</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1a00</Index>
+					<Name>Diag 1</Name>
+					<Entry>
+						<Index>#x3101</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Diag</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1a01</Index>
+					<Name>Diag 2</Name>
+					<Entry>
+						<Index>#x3101</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Diag</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0301</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x07f03052" RevisionNo="#x00100000">EL2032</Type>
+				<HideType RevisionNo="#x00000000" ProductRevision="EL2032-0000-0000"/>
+				<Name LcId="1033"><![CDATA[EL2032 2Ch. Dig. Output 24V, 2A, Diagnostic]]></Name>
+				<Name LcId="1031"><![CDATA[EL2032 2K. Dig. Ausgang 24V, 2A, Diagnose]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2032]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2032]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>100</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Sm StartAddress="#x1000" ControlByte="0" Enable="0">Inputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1a00</Index>
+					<Name>Diag 1</Name>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Diag</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1a01</Index>
+					<Name>Diag 2</Name>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Diag</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>04010400</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x07f23052" RevisionNo="#x00100000">EL2034</Type>
+				<Name LcId="1033"><![CDATA[EL2034 4Ch. Dig. Output 24V, 2A, Diagnostic]]></Name>
+				<Name LcId="1031"><![CDATA[EL2034 4K. Dig. Ausgang 24V, 2A, Diagnose]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2034]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2034]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>120</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Sm StartAddress="#x1001" ControlByte="0" Enable="0">Inputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1a00</Index>
+					<Name>Diag 1</Name>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Diag</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1a01</Index>
+					<Name>Diag 2</Name>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Diag</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1a02</Index>
+					<Name>Diag 3</Name>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Diag</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1a03</Index>
+					<Name>Diag 4</Name>
+					<Entry>
+						<Index>#x6030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Diag</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x07fa3052" RevisionNo="#x00100000">EL2042</Type>
+				<Name LcId="1033"><![CDATA[EL2042 2Ch. Dig. Output 24V, 4A]]></Name>
+				<Name LcId="1031"><![CDATA[EL2042 2K. Dig. Ausgang 24V, 4A]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2042]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2042]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>120</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x08243052" RevisionNo="#x00100000">EL2084</Type>
+				<Name LcId="1033"><![CDATA[EL2084 4Ch. Dig. Output 24V, 0.5A, switching to negative]]></Name>
+				<Name LcId="1031"><![CDATA[EL2084 4K. Dig. Ausgang 24V, 0.5A, negativ schaltend]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2084]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2084]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>100</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x08283052" RevisionNo="#x00100000">EL2088</Type>
+				<Name LcId="1033"><![CDATA[EL2088 8Ch. Dig. Output 24V, 0.5A, switching to negative]]></Name>
+				<Name LcId="1031"><![CDATA[EL2088 8K. Dig. Ausgang 24V, 0.5A, negativ schaltend]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2088]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2088]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>110</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1604</Index>
+					<Name>Channel 5</Name>
+					<Entry>
+						<Index>#x7040</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1605</Index>
+					<Name>Channel 6</Name>
+					<Entry>
+						<Index>#x7050</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1606</Index>
+					<Name>Channel 7</Name>
+					<Entry>
+						<Index>#x7060</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1607</Index>
+					<Name>Channel 8</Name>
+					<Entry>
+						<Index>#x7070</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x084c3052" RevisionNo="#x00100000">EL2124</Type>
+				<Name LcId="1033"><![CDATA[EL2124 4Ch. Dig. Output 5V, 20mA]]></Name>
+				<Name LcId="1031"><![CDATA[EL2124 4K. Dig. Ausgang 5V, 20mA]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2124]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2124]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x089A3052" RevisionNo="#x00000000">EL2202</Type>
+				<Name LcId="1033"><![CDATA[EL2202 2Ch. Dig. Output 24V, 0.5A, DC Sync]]></Name>
+				<Name LcId="1031"><![CDATA[EL2202 2K. Dig. Ausgang 24V, 0.5A, DC Sync]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2202]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2202]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="true" Sm="0" Su="0">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x3001</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x3001</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Dc>
+					<OpMode>
+						<Name>DcOff</Name>
+						<Desc>DC unused</Desc>
+						<AssignActivate>#x0000</AssignActivate>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync</Name>
+						<Desc>DC Sync Settings</Desc>
+						<AssignActivate>#x0300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0201</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x089A3052" RevisionNo="#x00100000">EL2202</Type>
+				<HideType RevisionNo="#x00000000" ProductRevision="EL2202-0000-0000"/>
+				<AlternativeType RevisionNo="#x00100064"/>
+				<Name LcId="1033"><![CDATA[EL2202 2Ch. Dig. Output 24V, 0.5A]]></Name>
+				<Name LcId="1031"><![CDATA[EL2202 2K. Dig. Ausgang 24V, 0.5A]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2202]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2202]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="true" Sm="0" Su="0">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TriState</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TriState</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>040100000000FFFF</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x089A3052" RevisionNo="#x00100064">EL2202-0100</Type>
+				<AlternativeType RevisionNo="#x00100000"/>
+				<Name LcId="1033"><![CDATA[EL2202-0100 2Ch. Dig. Output 24V, 0.5A, DC Sync]]></Name>
+				<Name LcId="1031"><![CDATA[EL2202-0100 2K. Dig. Ausgang 24V, 0.5A, DC Sync]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2202]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2202]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="true" Sm="0" Su="0">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TriState</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TriState</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Dc>
+					<OpMode>
+						<Name>DcSync</Name>
+						<Desc>DC Sync Settings</Desc>
+						<AssignActivate>#x0300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>04018000000AFFFF</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x08CC3052" RevisionNo="#x00000000">EL2252</Type>
+				<Name LcId="1033"><![CDATA[EL2252 2Ch. Dig. Output 24V, 0.5A, DC Time Stamp]]></Name>
+				<Name LcId="1031"><![CDATA[EL2252 2K. Dig. Ausgang 24V, 0.5A, DC Time Stamp]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2252]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2252]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="true" Sm="0" Su="0">Outputs</Fmmu>
+				<Fmmu Sm="1" Su="1">Outputs</Fmmu>
+				<Fmmu Sm="2" Su="2">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Sm StartAddress="#x0981" Virtual="true">Outputs</Sm>
+				<Sm StartAddress="#x0990" Virtual="true">Outputs</Sm>
+				<RxPdo Fixed="1" Sm="1" Su="1" Virtual="true">
+					<Index>#x1610</Index>
+					<Name>DC Sync Activate</Name>
+					<Entry>
+						<Index>#x1d09</Index>
+						<SubIndex>#x81</SubIndex>
+						<BitLen>8</BitLen>
+						<Name>Activate</Name>
+						<DataType>USINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2" Su="2" Virtual="true">
+					<Index>#x1611</Index>
+					<Name>DC Sync Start</Name>
+					<Entry>
+						<Index>#x1d09</Index>
+						<SubIndex>#x90</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>StartTime</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x3001</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x3001</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Dc>
+					<OpMode>
+						<Name>DcTimeStamp</Name>
+						<Desc>DC Time Stamp Settings</Desc>
+						<AssignActivate>#x0300</AssignActivate>
+						<CycleTimeSync0 Factor="0">2000000000</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>04018000e8030100</ConfigData>
+				</Eeprom>
+				<VendorSpecific>
+					<TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
+				</VendorSpecific>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x08CC3052" RevisionNo="#x00100000">EL2252</Type>
+				<HideType RevisionNo="#x00000000" ProductRevision="EL2252-0000-0000"/>
+				<Name LcId="1033"><![CDATA[EL2252 2Ch. Dig. Output 24V, 0.5A, DC Time Stamp]]></Name>
+				<Name LcId="1031"><![CDATA[EL2252 2K. Dig. Ausgang 24V, 0.5A, DC Time Stamp]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2252]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2252]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu Sm="0" Su="0">Outputs</Fmmu>
+				<Fmmu Sm="1" Su="1">Outputs</Fmmu>
+				<Fmmu Sm="2" Su="2" OpOnly="true">Outputs</Fmmu>
+				<Sm StartAddress="#x0981" Virtual="true">Outputs</Sm>
+				<Sm StartAddress="#x0990" Virtual="true">Outputs</Sm>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Sm StartAddress="#x0910" Virtual="true">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="0" Su="0" Virtual="true">
+					<Index>#x1610</Index>
+					<Name>DC Sync Activate</Name>
+					<Entry>
+						<Index>#x1d09</Index>
+						<SubIndex>#x81</SubIndex>
+						<BitLen>8</BitLen>
+						<Name>Activate</Name>
+						<DataType>USINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1" Virtual="true">
+					<Index>#x1611</Index>
+					<Name>DC Sync Start</Name>
+					<Entry>
+						<Index>#x1d09</Index>
+						<SubIndex>#x90</SubIndex>
+						<BitLen>64</BitLen>
+						<Name>StartTime</Name>
+						<DataType>ULINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>16</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="2" Su="2">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x3001</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="2" Su="2">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x3001</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Su="0" Virtual="true">
+					<Index>#x1a00</Index>
+					<Name>SysTime</Name>
+					<Entry>
+						<Index>#x1d09</Index>
+						<SubIndex>#x10</SubIndex>
+						<BitLen>64</BitLen>
+						<Name>SysTime</Name>
+						<DataType>ULINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Dc>
+					<OpMode>
+						<Name>DcTimeStamp</Name>
+						<Desc>DC Time Stamp Settings</Desc>
+						<AssignActivate>#x0300</AssignActivate>
+						<CycleTimeSync0 Factor="0">2000000000</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>04018000e8030100</ConfigData>
+				</Eeprom>
+				<VendorSpecific>
+					<TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
+				</VendorSpecific>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x08CC3052" RevisionNo="#x00110000">EL2252</Type>
+				<HideType RevisionNo="#x00100000" ProductRevision="EL2252-0000-0016"/>
+				<Name LcId="1033"><![CDATA[EL2252 2Ch. Dig. Output 24V, 0.5A, DC Time Stamp]]></Name>
+				<Name LcId="1031"><![CDATA[EL2252 2K. Dig. Ausgang 24V, 0.5A, DC Time Stamp]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2252]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2252]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu Sm="0" Su="0">Outputs</Fmmu>
+				<Fmmu Sm="1" Su="1">Outputs</Fmmu>
+				<Fmmu Sm="2" Su="2" OpOnly="true">Outputs</Fmmu>
+				<Sm StartAddress="#x0981" Virtual="true">Outputs</Sm>
+				<Sm StartAddress="#x0990" Virtual="true">Outputs</Sm>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Sm StartAddress="#x0910" Virtual="true">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="0" Su="0" Virtual="true">
+					<Index>#x1602</Index>
+					<Name>DC Sync Activate</Name>
+					<Entry>
+						<Index>#x1d09</Index>
+						<SubIndex>#x81</SubIndex>
+						<BitLen>8</BitLen>
+						<Name>Activate</Name>
+						<DataType>USINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1" Virtual="true">
+					<Index>#x1603</Index>
+					<Name>DC Sync Start</Name>
+					<Entry>
+						<Index>#x1d09</Index>
+						<SubIndex>#x90</SubIndex>
+						<BitLen>64</BitLen>
+						<Name>StartTime</Name>
+						<DataType>ULINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2" Su="2" Mandatory="1">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TriState</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2" Su="2" Mandatory="1">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TriState</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2" Su="2" Mandatory="1">
+					<Index>#x1602</Index>
+					<Name>Reserved</Name>
+				</RxPdo>
+				<TxPdo Fixed="1" Su="0" Virtual="true">
+					<Index>#x1a00</Index>
+					<Name>SysTime</Name>
+					<Entry>
+						<Index>#x1d09</Index>
+						<SubIndex>#x10</SubIndex>
+						<BitLen>64</BitLen>
+						<Name>SysTime</Name>
+						<DataType>ULINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Dc>
+					<OpMode>
+						<Name>DcTimeStamp</Name>
+						<Desc>DC Time Stamp Settings</Desc>
+						<AssignActivate>#x0300</AssignActivate>
+						<CycleTimeSync0 Factor="0">2000000000</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>04018000e803FFFF</ConfigData>
+				</Eeprom>
+				<VendorSpecific>
+					<TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
+				</VendorSpecific>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x08CC3052" RevisionNo="#x00120000">EL2252</Type>
+				<HideType RevisionNo="#x00110000" ProductRevision="EL2252-0000-0011"/>
+				<Name LcId="1033"><![CDATA[EL2252 2Ch. Dig. Output 24V, 0.5A, DC Time Stamp]]></Name>
+				<Name LcId="1031"><![CDATA[EL2252 2K. Dig. Ausgang 24V, 0.5A, DC Time Stamp]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2252]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2252]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu Sm="0" Su="0">Outputs</Fmmu>
+				<Fmmu Sm="1" Su="1">Outputs</Fmmu>
+				<Fmmu Sm="2" Su="2" OpOnly="true">Outputs</Fmmu>
+				<Sm StartAddress="#x0981" Virtual="true">Outputs</Sm>
+				<Sm StartAddress="#x0990" Virtual="true">Outputs</Sm>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Sm StartAddress="#x0910" Virtual="true">Inputs</Sm>
+				<Sm StartAddress="#x1000" Virtual="true">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="0" Su="0" Virtual="true">
+					<Index>#x1602</Index>
+					<Name>DC Sync Activate</Name>
+					<Entry>
+						<Index>#x1d09</Index>
+						<SubIndex>#x81</SubIndex>
+						<BitLen>8</BitLen>
+						<Name>Activate</Name>
+						<DataType>USINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1" Virtual="true">
+					<Index>#x1603</Index>
+					<Name>DC Sync Start</Name>
+					<Entry>
+						<Index>#x1d09</Index>
+						<SubIndex>#x90</SubIndex>
+						<BitLen>64</BitLen>
+						<Name>StartTime</Name>
+						<DataType>ULINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2" Su="2" Mandatory="1">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TriState</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2" Su="2" Mandatory="1">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TriState</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2" Su="2" Mandatory="1">
+					<Index>#x1604</Index>
+					<Name>Reserved</Name>
+				</RxPdo>
+				<TxPdo Fixed="1" Su="0" Virtual="true">
+					<Index>#x1a00</Index>
+					<Name>SysTime</Name>
+					<Entry>
+						<Index>#x1d09</Index>
+						<SubIndex>#x10</SubIndex>
+						<BitLen>64</BitLen>
+						<Name>SysTime</Name>
+						<DataType>ULINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Su="1" Virtual="true">
+					<Index>#x1a01</Index>
+					<Name>Feedback</Name>
+					<Entry>
+						<Index>#x1d09</Index>
+						<SubIndex>#x11</SubIndex>
+						<BitLen>8</BitLen>
+						<Name>Feedback</Name>
+						<Comment>Bit 0: Output 1
+Bit 1: Tristate 1
+Bit 2: Output 2
+Bit 3: Tristate 2</Comment>
+						<DataType>USINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Dc>
+					<OpMode>
+						<Name>DcTimeStamp</Name>
+						<Desc>DC Time Stamp Settings</Desc>
+						<AssignActivate>#x0300</AssignActivate>
+						<CycleTimeSync0 Factor="0">2000000000</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>04018000e803FFFF</ConfigData>
+				</Eeprom>
+				<VendorSpecific>
+					<TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
+				</VendorSpecific>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x08D63052" RevisionNo="#x00000000">EL2262</Type>
+				<Name LcId="1033"><![CDATA[EL2262 2Ch. Dig. Output 24V, 0.5A, DC Over Sampling]]></Name>
+				<Name LcId="1031"><![CDATA[EL2262 2K. Dig. Ausgang 24V, 0.5A, DC Over Sampling]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2262]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2262]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="true" Sm="0" Su="0">Outputs</Fmmu>
+				<Sm StartAddress="#x1000" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<RxPdo Fixed="1" Sm="0">
+					<Index>#x1680</Index>
+					<Name>Cycle Counter</Name>
+					<Entry>
+						<Index>#x7800</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Cycle Counter</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" OSFac="10" OSMin="1" OSMax="100" OSIndexInc="8">
+					<Index>#x1600</Index>
+					<Name>Sample</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>8</BitLen>
+						<Name>Output</Name>
+						<DataType>BYTE</DataType>
+					</Entry>
+				</RxPdo>
+				<Dc>
+					<OpMode>
+						<Name>DcSync</Name>
+						<Desc>No oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1680</Pdo>
+							<Pdo OSFac="1">#x1600</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync2</Name>
+						<Desc>2 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-2">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1680</Pdo>
+							<Pdo OSFac="2">#x1600</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync3</Name>
+						<Desc>3 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-3">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1680</Pdo>
+							<Pdo OSFac="3">#x1600</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync4</Name>
+						<Desc>4 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-4">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1680</Pdo>
+							<Pdo OSFac="4">#x1600</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync5</Name>
+						<Desc>5 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-5">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1680</Pdo>
+							<Pdo OSFac="5">#x1600</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync8</Name>
+						<Desc>8 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-8">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1680</Pdo>
+							<Pdo OSFac="8">#x1600</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync10</Name>
+						<Desc>10 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-10">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1680</Pdo>
+							<Pdo OSFac="10">#x1600</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync16</Name>
+						<Desc>16 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-16">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1680</Pdo>
+							<Pdo OSFac="16">#x1600</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync20</Name>
+						<Desc>20 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-20">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1680</Pdo>
+							<Pdo OSFac="20">#x1600</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync25</Name>
+						<Desc>25 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-25">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1680</Pdo>
+							<Pdo OSFac="25">#x1600</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync50</Name>
+						<Desc>50 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-50">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1680</Pdo>
+							<Pdo OSFac="50">#x1600</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync100</Name>
+						<Desc>100 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-100">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1680</Pdo>
+							<Pdo OSFac="100">#x1600</Pdo>
+						</Sm>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0601000010000100</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x08D63052" RevisionNo="#x00010000">EL2262</Type>
+				<HideType RevisionNo="#x00000000" ProductRevision="EL2262-0000-0000"/>
+				<Name LcId="1033"><![CDATA[EL2262 2Ch. Dig. Output 24V, 0.5A, DC Over Sampling]]></Name>
+				<Name LcId="1031"><![CDATA[EL2262 2K. Dig. Ausgang 24V, 0.5A, DC Over Sampling]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2262]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2262]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="true" Sm="0" Su="0">Outputs</Fmmu>
+				<Fmmu OpOnly="true" Sm="1" Su="1">Outputs</Fmmu>
+				<Sm StartAddress="#x1000" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Sm StartAddress="#x1200" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su/>
+				<Su/>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1700</Index>
+					<Name>CycCount0</Name>
+					<Entry>
+						<Index>#x7800</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Cycle Counter</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0" OSFac="10" OSMin="1" OSMax="100" OSIndexInc="8">
+					<Index>#x1600</Index>
+					<Name>Sample0</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output0</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1710</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1711</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1712</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1713</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1714</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1715</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>6</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1716</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>7</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x1701</Index>
+					<Name>CycCount1</Name>
+					<Entry>
+						<Index>#x7800</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Cycle Counter</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1" OSFac="10" OSMin="1" OSMax="100" OSIndexInc="8">
+					<Index>#x1680</Index>
+					<Name>Sample1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output1</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x1718</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x1719</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x171a</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x171b</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x171c</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x171d</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>6</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x171e</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>7</BitLen>
+					</Entry>
+				</RxPdo>
+				<Dc>
+					<OpMode>
+						<Name>DcSync</Name>
+						<Desc>No oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="1">#x1600</Pdo>
+							<Pdo>#x1716</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="1">#x1680</Pdo>
+							<Pdo>#x171e</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync2</Name>
+						<Desc>2 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-2">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="2">#x1600</Pdo>
+							<Pdo>#x1715</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="2">#x1680</Pdo>
+							<Pdo>#x171d</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync3</Name>
+						<Desc>3 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-3">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="3">#x1600</Pdo>
+							<Pdo>#x1714</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="3">#x1680</Pdo>
+							<Pdo>#x171c</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync4</Name>
+						<Desc>4 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-4">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="4">#x1600</Pdo>
+							<Pdo>#x1713</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="4">#x1680</Pdo>
+							<Pdo>#x171b</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync5</Name>
+						<Desc>5 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-5">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="5">#x1600</Pdo>
+							<Pdo>#x1712</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="5">#x1680</Pdo>
+							<Pdo>#x171a</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync8</Name>
+						<Desc>8 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-8">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="8">#x1600</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="8">#x1680</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync10</Name>
+						<Desc>10 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-10">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="10">#x1600</Pdo>
+							<Pdo>#x1715</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="10">#x1680</Pdo>
+							<Pdo>#x171d</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync16</Name>
+						<Desc>16 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-16">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="16">#x1600</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="16">#x1680</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync20</Name>
+						<Desc>20 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-20">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="20">#x1600</Pdo>
+							<Pdo>#x1713</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="20">#x1680</Pdo>
+							<Pdo>#x171b</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync25</Name>
+						<Desc>25 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-25">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="25">#x1600</Pdo>
+							<Pdo>#x1716</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="25">#x1680</Pdo>
+							<Pdo>#x171e</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync40</Name>
+						<Desc>40 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-40">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="40">#x1600</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="40">#x1680</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync50</Name>
+						<Desc>50 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-50">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="50">#x1600</Pdo>
+							<Pdo>#x1715</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="50">#x1680</Pdo>
+							<Pdo>#x171d</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync100_1</Name>
+						<Desc>100 times oversampling (1Ch)</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-100">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="100">#x1600</Pdo>
+							<Pdo>#x1713</Pdo>
+						</Sm>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0601000010000100</ConfigData>
+				</Eeprom>
+				<VendorSpecific>
+					<TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
+				</VendorSpecific>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x08D63052" RevisionNo="#x00020000" TcSmClass="EL226X">EL2262</Type>
+				<HideType RevisionNo="#x00010000" ProductRevision="EL2262-0001-0000"/>
+				<Name LcId="1033"><![CDATA[EL2262 2Ch. Dig. Output 24V, 1µs, DC Oversample]]></Name>
+				<Name LcId="1031"><![CDATA[EL2262 2K. Dig. Ausgang 24V, 1µs, DC Oversample]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2262]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2262]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>070</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="true" Sm="0" Su="0">Outputs</Fmmu>
+				<Fmmu OpOnly="true" Sm="1" Su="1">Outputs</Fmmu>
+				<Fmmu OpOnly="false" Sm="2" Su="0">Inputs</Fmmu>
+				<Sm StartAddress="#x1000" ControlByte="#x64" Enable="1" OpOnly="1">Outputs</Sm>
+				<Sm StartAddress="#x1200" ControlByte="#x64" Enable="1" OpOnly="1">Outputs</Sm>
+				<Sm StartAddress="#x0998" Virtual="true">Inputs</Sm>
+				<Su/>
+				<Su/>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1700</Index>
+					<Name>CycCount0</Name>
+					<Entry>
+						<Index>#x7800</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Cycle Counter0</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0" OSFac="10" OSMin="1" OSMax="128" OSIndexInc="8">
+					<Index>#x1600</Index>
+					<Name>Sample0</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output0</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0" OSFac="10" OSMin="1" OSMax="125" OSIndexInc="8">
+					<Index>#x1800</Index>
+					<Name>Sample0</Name>
+					<Entry>
+						<Index>#x7200</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>8</BitLen>
+						<Name>Output0</Name>
+						<DataType>BYTE</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1710</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1711</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1712</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1713</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1714</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1715</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>6</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1716</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>7</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x1701</Index>
+					<Name>CycCount1</Name>
+					<Entry>
+						<Index>#x7800</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Cycle Counter1</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1" OSFac="10" OSMin="1" OSMax="128" OSIndexInc="8">
+					<Index>#x1680</Index>
+					<Name>Sample1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output1</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1" OSFac="10" OSMin="1" OSMax="125" OSIndexInc="8">
+					<Index>#x1880</Index>
+					<Name>Sample1</Name>
+					<Entry>
+						<Index>#x7200</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>8</BitLen>
+						<Name>Output1</Name>
+						<DataType>BYTE</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x1718</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x1719</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x171a</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x171b</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x171c</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x171d</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>6</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x171e</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>7</BitLen>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="2" Virtual="true" Su="0">
+					<Index>#x1702</Index>
+					<Name>StartTimeNextOutput</Name>
+					<Entry>
+						<Index>#x1d09</Index>
+						<SubIndex>#x98</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>StartTimeNextOutput</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Dc>
+					<OpMode>
+						<Name>DcSync</Name>
+						<Desc>2 Channels - No oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="1">#x1600</Pdo>
+							<Pdo>#x1716</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="1">#x1680</Pdo>
+							<Pdo>#x171e</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync2</Name>
+						<Desc>2 Ch. - 2 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-2">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="2">#x1600</Pdo>
+							<Pdo>#x1715</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="2">#x1680</Pdo>
+							<Pdo>#x171d</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync3</Name>
+						<Desc>2 Ch. - 3 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-3">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="3">#x1600</Pdo>
+							<Pdo>#x1714</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="3">#x1680</Pdo>
+							<Pdo>#x171c</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync4</Name>
+						<Desc>2 Ch. - 4 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-4">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="4">#x1600</Pdo>
+							<Pdo>#x1713</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="4">#x1680</Pdo>
+							<Pdo>#x171b</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync5</Name>
+						<Desc>2 Ch. - 5 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-5">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="5">#x1600</Pdo>
+							<Pdo>#x1712</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="5">#x1680</Pdo>
+							<Pdo>#x171a</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync8</Name>
+						<Desc>2 Ch. - 8 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-8">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="8">#x1600</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="8">#x1680</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync10</Name>
+						<Desc>2 Ch. - 10 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-10">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="10">#x1600</Pdo>
+							<Pdo>#x1715</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="10">#x1680</Pdo>
+							<Pdo>#x171d</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync16</Name>
+						<Desc>2 Ch. - 16 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-16">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="16">#x1600</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="16">#x1680</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync20</Name>
+						<Desc>2 Ch. - 20 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-20">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="20">#x1600</Pdo>
+							<Pdo>#x1713</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="20">#x1680</Pdo>
+							<Pdo>#x171b</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync40</Name>
+						<Desc>2 Ch. - 40 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-40">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="40">#x1600</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="40">#x1680</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync50</Name>
+						<Desc>2 Ch. - 50 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-50">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="50">#x1600</Pdo>
+							<Pdo>#x1715</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="50">#x1680</Pdo>
+							<Pdo>#x171d</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync100</Name>
+						<Desc>2 Ch. - 100 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-100">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="100">#x1600</Pdo>
+							<Pdo>#x1713</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="100">#x1680</Pdo>
+							<Pdo>#x171b</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync200</Name>
+						<Desc>2 Ch. - 200 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-200">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="25">#x1800</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="25">#x1880</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync400</Name>
+						<Desc>2 Ch. - 400 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-400">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="50">#x1800</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="50">#x1880</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync1000</Name>
+						<Desc>2 Ch. - 1000 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-1000">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="125">#x1800</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="125">#x1880</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync_1</Name>
+						<Desc>Channel 1 - No oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="1">#x1600</Pdo>
+							<Pdo>#x1716</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync2_1</Name>
+						<Desc>1 Ch. - 2 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-2">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="2">#x1600</Pdo>
+							<Pdo>#x1715</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync3_1</Name>
+						<Desc>1 Ch. - 3 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-3">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="3">#x1600</Pdo>
+							<Pdo>#x1714</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync4_1</Name>
+						<Desc>1 Ch. - 4 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-4">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="4">#x1600</Pdo>
+							<Pdo>#x1713</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync5_1</Name>
+						<Desc>1 Ch. - 5 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-5">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="5">#x1600</Pdo>
+							<Pdo>#x1712</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync8_1</Name>
+						<Desc>1 Ch. - 8 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-8">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="8">#x1600</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync10_1</Name>
+						<Desc>1 Ch. - 10 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-10">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="10">#x1600</Pdo>
+							<Pdo>#x1715</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync16_1</Name>
+						<Desc>1 Ch. - 16 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-16">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="16">#x1600</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync20_1</Name>
+						<Desc>1 Ch. - 20 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-20">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="20">#x1600</Pdo>
+							<Pdo>#x1713</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync40_1</Name>
+						<Desc>1 Ch. - 40 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-40">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="40">#x1600</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync50_1</Name>
+						<Desc>1 Ch. - 50 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-50">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="50">#x1600</Pdo>
+							<Pdo>#x1715</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync100_1</Name>
+						<Desc>1 Ch. - 100 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-100">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="100">#x1600</Pdo>
+							<Pdo>#x1713</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync200_1</Name>
+						<Desc>1 Ch. - 200 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-200">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="25">#x1800</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync400_1</Name>
+						<Desc>1 Ch. - 400 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-400">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="50">#x1800</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync1000_1</Name>
+						<Desc>1 Ch. - 1000 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-1000">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="125">#x1800</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync</Name>
+						<Desc>2 Channels (Bits)</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="1">#x1600</Pdo>
+							<Pdo>#x1710</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1b02</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="1">#x1680</Pdo>
+							<Pdo>#x1718</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT UseFromBuildNo="1506">
+								<Oversampling DefaultFactor="10" MinCycleTime="1000"/>
+							</TwinCAT>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync2</Name>
+						<Desc>2 Channels (Bytes)</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-8">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="1">#x1800</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1b02</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="1">#x1880</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT UseFromBuildNo="1506">
+								<Oversampling DefaultFactor="10" MinCycleTime="1000"/>
+							</TwinCAT>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync_1</Name>
+						<Desc>1 Channel (Bits)</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="1">#x1600</Pdo>
+							<Pdo>#x1710</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1b02</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT UseFromBuildNo="1506">
+								<Oversampling DefaultFactor="10" MinCycleTime="1000"/>
+							</TwinCAT>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync2_1</Name>
+						<Desc>1 Channel (Bytes)</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-8">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="1">#x1800</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1b02</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT UseFromBuildNo="1506">
+								<Oversampling DefaultFactor="10" MinCycleTime="1000"/>
+							</TwinCAT>
+						</VendorSpecific>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0605000010000100</ConfigData>
+					<Category>
+						<CatNo>1</CatNo>
+						<Data>D60806020602</Data>
+					</Category>
+				</Eeprom>
+				<VendorSpecific>
+					<TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
+				</VendorSpecific>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09c63052" RevisionNo="#x100000">EL2502</Type>
+				<Name LcId="1033">EL2502 2Ch. PWM Output, 24V</Name>
+				<Name LcId="1031">EL2502 2K. PWM Ausgang, 24V</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2502]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2502]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ProfileNo>5001</ProfileNo>
+					<AddInfo>250</AddInfo>
+					<ChannelCount>2</ChannelCount>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>0</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BIT3</Name>
+								<BitSize>0</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>INT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(11)</Name>
+								<BitSize>88</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0800EN03</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>3</BitSize>
+								<EnumInfo>
+									<Text>Signed Presentation</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Unsigned resentation</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Absolute value with MSB</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Absolute value</Text>
+									<Enum>3</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Default Watchdog value</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Watchdog ramp</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Last value</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>PWM</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Frequency</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C00ARR</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C00</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>280</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>192</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>256</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>PWM output</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>120</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Enable user scale</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Presentation</Name>
+									<Type>DT0800EN03</Type>
+									<BitSize>3</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Watchdog</Name>
+									<Type>DT0801EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Operation mode</Name>
+									<Type>DT0802EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Offset</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Gain</Name>
+									<Type>DINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>40</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Default output</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>72</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Default output ramp</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>88</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Period PWM [µs]</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>104</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT800E</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Timer resolution</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Duty cycle</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>8913fa00</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(11)</Type>
+								<BitSize>88</BitSize>
+								<Info>
+									<DefaultData>454c323530322d30303030</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230c609</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>00001000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Serial number</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x10f0</Index>
+								<Name>Backup parameter</Name>
+								<Type>DT10F0</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Checksum</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1600</Index>
+								<Name>RxPDO-Map Ch.1</Name>
+								<Type>DT1600</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10110070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1601</Index>
+								<Name>RxPDO-Map Ch.2</Name>
+								<Type>DT1600</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10111070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c00</Index>
+								<Name>Sync manager type</Name>
+								<Type>DT1C00</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 004</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c12</Index>
+								<Name>RxPDO assign</Name>
+								<Type>DT1C12</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>0016</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>0116</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c32</Index>
+								<Name>SM output parameter</Name>
+								<Type>DT1C32</Type>
+								<BitSize>280</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>07</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sync mode</Name>
+										<Info>
+											<DefaultData>0100</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Cycle time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Shift time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sync modes supported</Name>
+										<Info>
+											<DefaultData>0780</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Minimum cycle time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Calc and copy time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Command</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Delay time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SM event missed counter</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Cycle exceeded counter</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Shift too short counter</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sync error</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7000</Index>
+								<Name>PWM Outputs Ch.1</Name>
+								<Type>DT7000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>11</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>PWM output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7010</Index>
+								<Name>PWM Outputs Ch.2</Name>
+								<Type>DT7000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>11</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>PWM output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8000</Index>
+								<Name>PWM Settings Ch.1</Name>
+								<Type>DT8000</Type>
+								<BitSize>120</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>15</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable user scale</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Presentation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operation mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Offset</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Gain</Name>
+										<Info>
+											<DefaultData>00000100</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output ramp</Name>
+										<Info>
+											<DefaultData>ffff</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Period PWM [µs]</Name>
+										<Info>
+											<DefaultData>a00f</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x800e</Index>
+								<Name>PWM Internal data Ch.1</Name>
+								<Type>DT800E</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Timer resolution</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Duty cycle</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8010</Index>
+								<Name>PWM Settings Ch.2</Name>
+								<Type>DT8000</Type>
+								<BitSize>120</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>15</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable user scale</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Presentation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operation mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Offset</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Gain</Name>
+										<Info>
+											<DefaultData>00000100</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output ramp</Name>
+										<Info>
+											<DefaultData>ffff</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Period PWM [µs]</Name>
+										<Info>
+											<DefaultData>a00f</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x801e</Index>
+								<Name>PWM Internal data Ch.2</Name>
+								<Type>DT800E</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Timer resolution</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Duty cycle</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0200</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="128" MaxSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="128" MaxSize="128" DefaultSize="128" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x24" Enable="1" Watchdog="1">Outputs</Sm>
+				<Sm DefaultSize="0" StartAddress="#x1180" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Mandatory="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>PWM Outputs Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="2">
+					<Index>#x1601</Index>
+					<Name>PWM Outputs Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1"/>
+					<FoE/>
+				</Mailbox>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030800000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09c63052" RevisionNo="#x110000">EL2502</Type>
+				<HideType RevisionNo="#x00100000" ProductRevision="EL2502-0000-0016"/>
+				<Name LcId="1033">EL2502 2Ch. PWM Output, 24V</Name>
+				<Name LcId="1031">EL2502 2K. PWM Ausgang, 24V</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2502]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2502]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>150</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ProfileNo>5001</ProfileNo>
+					<AddInfo>250</AddInfo>
+					<ChannelCount>2</ChannelCount>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>0</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BIT3</Name>
+								<BitSize>0</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>INT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..1] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>16</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(11)</Name>
+								<BitSize>88</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0800EN03</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>3</BitSize>
+								<EnumInfo>
+									<Text>Signed Presentation</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Unsigned resentation</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Absolute value with MSB</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Absolute value</Text>
+									<Enum>3</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Default Watchdog value</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Watchdog ramp</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Last value</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>PWM</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Frequency</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1400</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude RxPDOs</Name>
+									<Type>ARRAY [0..1] OF BYTE</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1602</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C00ARR</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C00</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>16</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>280</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>192</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>256</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>PWM output</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>PWM period</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>120</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Enable user scale</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Presentation</Name>
+									<Type>DT0800EN03</Type>
+									<BitSize>3</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Watchdog</Name>
+									<Type>DT0801EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Operation mode</Name>
+									<Type>DT0802EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Offset</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Gain</Name>
+									<Type>DINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>40</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Default output</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>72</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Default output ramp</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>88</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Period PWM [µs]</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>104</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT800E</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Timer resolution</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Duty cycle</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>64</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>64</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>8913fa00</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(11)</Type>
+								<BitSize>88</BitSize>
+								<Info>
+									<DefaultData>454c323530322d30303030</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230c609</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>00001100</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Serial number</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x10f0</Index>
+								<Name>Backup parameter handling</Name>
+								<Type>DT10F0</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Checksum</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1400</Index>
+								<Name>RxPDO-ParCh.1</Name>
+								<Type>DT1400</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>0216</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1401</Index>
+								<Name>RxPDO-ParCh.2</Name>
+								<Type>DT1400</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>0216</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1402</Index>
+								<Name>RxPDO-PaCh.1</Name>
+								<Type>DT1400</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>0016</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1403</Index>
+								<Name>RxPDO-PaCh.2</Name>
+								<Type>DT1400</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>0016</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1600</Index>
+								<Name>RxPDO-Map Ch.1</Name>
+								<Type>DT1600</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10110070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1601</Index>
+								<Name>RxPDO-Map Ch.2</Name>
+								<Type>DT1600</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10111070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1602</Index>
+								<Name>RxPDO-MapCh.1</Name>
+								<Type>DT1602</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10110070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>10120070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1603</Index>
+								<Name>RxPDO-MapCh.2</Name>
+								<Type>DT1602</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10111070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>10121070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c00</Index>
+								<Name>Sync manager type</Name>
+								<Type>DT1C00</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 004</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c12</Index>
+								<Name>RxPDO assign</Name>
+								<Type>DT1C12</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>0016</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>0116</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c13</Index>
+								<Name>TxPDO assign</Name>
+								<Type>DT1C13</Type>
+								<BitSize>0</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c32</Index>
+								<Name>SM output parameter</Name>
+								<Type>DT1C32</Type>
+								<BitSize>280</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>20</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sync mode</Name>
+										<Info>
+											<DefaultData>0100</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Cycle time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Shift time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sync modes supported</Name>
+										<Info>
+											<DefaultData>07c0</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Minimum cycle time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Calc and copy time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Command</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Delay time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SM event missed counter</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Cycle exceeded counter</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Shift too short counter</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sync error</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7000</Index>
+								<Name>PWM Outputs Ch.1</Name>
+								<Type>DT7000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>12</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>PWM output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>PWM period</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7010</Index>
+								<Name>PWM Outputs Ch.2</Name>
+								<Type>DT7000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>12</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>PWM output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>PWM period</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8000</Index>
+								<Name>PWM Settings Ch.1</Name>
+								<Type>DT8000</Type>
+								<BitSize>120</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>15</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable user scale</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Presentation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operation mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Offset</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Gain</Name>
+										<Info>
+											<DefaultData>00000100</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output ramp</Name>
+										<Info>
+											<DefaultData>ffff</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Period PWM [µs]</Name>
+										<Info>
+											<DefaultData>a00f</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x800e</Index>
+								<Name>PWM Internal data Ch.1</Name>
+								<Type>DT800E</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Timer resolution</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Duty cycle</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8010</Index>
+								<Name>PWM Settings Ch.2</Name>
+								<Type>DT8000</Type>
+								<BitSize>120</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>15</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable user scale</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Presentation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operation mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Offset</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Gain</Name>
+										<Info>
+											<DefaultData>00000100</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output ramp</Name>
+										<Info>
+											<DefaultData>ffff</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Period PWM [µs]</Name>
+										<Info>
+											<DefaultData>a00f</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x801e</Index>
+								<Name>PWM Internal data Ch.2</Name>
+								<Type>DT800E</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Timer resolution</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Duty cycle</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0200</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fa000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fa000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="128" MaxSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="128" MaxSize="128" DefaultSize="128" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="0" StartAddress="#x1180" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>PWM Outputs Channel 1</Name>
+					<Exclude>#x1602</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>PWM Outputs Channel 1</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM period</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1601</Index>
+					<Name>PWM Outputs Channel 2</Name>
+					<Exclude>#x1603</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1603</Index>
+					<Name>PWM Outputs Channel 2</Name>
+					<Exclude>#x1601</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM period</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1"/>
+					<FoE/>
+				</Mailbox>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030400000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09c63052" RevisionNo="#x00120000">EL2502</Type>
+				<HideType ProductRevision="EL2502-0000-0017" RevisionNo="#x00110000"/>
+				<Name LcId="1033">EL2502 2Ch. PWM Output, 24V</Name>
+				<Name LcId="1031">EL2502 2K. PWM Ausgang, 24V</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2502]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2502]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>150</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ProfileNo>5001</ProfileNo>
+					<AddInfo>250</AddInfo>
+					<ChannelCount>2</ChannelCount>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>0</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BIT3</Name>
+								<BitSize>0</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>INT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..1] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>16</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(11)</Name>
+								<BitSize>88</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0800EN03</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>3</BitSize>
+								<EnumInfo>
+									<Text>Signed Presentation</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Unsigned resentation</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Absolute value with MSB</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Absolute value</Text>
+									<Enum>3</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Default Watchdog value</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Watchdog ramp</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Last value</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>PWM</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Frequency</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1400</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude RxPDOs</Name>
+									<Type>ARRAY [0..1] OF BYTE</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1602</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C00ARR</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C00</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>16</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>280</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>192</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>256</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>PWM output</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>PWM period</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>120</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Enable user scale</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Presentation</Name>
+									<Type>DT0800EN03</Type>
+									<BitSize>3</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Watchdog</Name>
+									<Type>DT0801EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Operation mode</Name>
+									<Type>DT0802EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Offset</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Gain</Name>
+									<Type>DINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>40</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Default output</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>72</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Default output ramp</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>88</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Period PWM [µs]</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>104</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT800E</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Timer resolution</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Duty cycle</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>64</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>64</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>8913fa00</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(11)</Type>
+								<BitSize>88</BitSize>
+								<Info>
+									<DefaultData>454c323530322d30303030</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230c609</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>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>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Checksum</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1400</Index>
+								<Name>RxPDO-ParCh.1</Name>
+								<Type>DT1400</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>0216</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1401</Index>
+								<Name>RxPDO-ParCh.2</Name>
+								<Type>DT1400</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>0216</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1402</Index>
+								<Name>RxPDO-PaCh.1</Name>
+								<Type>DT1400</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>0016</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1403</Index>
+								<Name>RxPDO-PaCh.2</Name>
+								<Type>DT1400</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>0016</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1600</Index>
+								<Name>RxPDO-Map Ch.1</Name>
+								<Type>DT1600</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10110070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1601</Index>
+								<Name>RxPDO-Map Ch.2</Name>
+								<Type>DT1600</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10111070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1602</Index>
+								<Name>RxPDO-MapCh.1</Name>
+								<Type>DT1602</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10110070</DefaultData>
+										</Info>
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+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>10120070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1603</Index>
+								<Name>RxPDO-MapCh.2</Name>
+								<Type>DT1602</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10111070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>10121070</DefaultData>
+										</Info>
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+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c00</Index>
+								<Name>Sync manager type</Name>
+								<Type>DT1C00</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 004</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c12</Index>
+								<Name>RxPDO assign</Name>
+								<Type>DT1C12</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>0016</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>0116</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c13</Index>
+								<Name>TxPDO assign</Name>
+								<Type>DT1C13</Type>
+								<BitSize>0</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c32</Index>
+								<Name>SM output parameter</Name>
+								<Type>DT1C32</Type>
+								<BitSize>280</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>20</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sync mode</Name>
+										<Info>
+											<DefaultData>0100</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Cycle time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Shift time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sync modes supported</Name>
+										<Info>
+											<DefaultData>07c0</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Minimum cycle time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Calc and copy time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Command</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Delay time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SM event missed counter</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Cycle exceeded counter</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Shift too short counter</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sync error</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7000</Index>
+								<Name>PWM Outputs Ch.1</Name>
+								<Type>DT7000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>12</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>PWM output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>PWM period</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7010</Index>
+								<Name>PWM Outputs Ch.2</Name>
+								<Type>DT7000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>12</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>PWM output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>PWM period</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8000</Index>
+								<Name>PWM Settings Ch.1</Name>
+								<Type>DT8000</Type>
+								<BitSize>120</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>15</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable user scale</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Presentation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operation mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Offset</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Gain</Name>
+										<Info>
+											<DefaultData>00000100</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output ramp</Name>
+										<Info>
+											<DefaultData>ffff</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Period PWM [µs]</Name>
+										<Info>
+											<DefaultData>a00f</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x800e</Index>
+								<Name>PWM Internal data Ch.1</Name>
+								<Type>DT800E</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Timer resolution</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Duty cycle</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8010</Index>
+								<Name>PWM Settings Ch.2</Name>
+								<Type>DT8000</Type>
+								<BitSize>120</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>15</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable user scale</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Presentation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operation mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Offset</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Gain</Name>
+										<Info>
+											<DefaultData>00000100</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output ramp</Name>
+										<Info>
+											<DefaultData>ffff</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Period PWM [µs]</Name>
+										<Info>
+											<DefaultData>a00f</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x801e</Index>
+								<Name>PWM Internal data Ch.2</Name>
+								<Type>DT800E</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Timer resolution</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Duty cycle</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0200</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fa000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fa000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MaxSize="128" MinSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MaxSize="128" MinSize="128" DefaultSize="128" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="0" StartAddress="#x1180" ControlByte="#x20" Enable="0">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>PWM Outputs Channel 1</Name>
+					<Exclude>#x1602</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>PWM Outputs Channel 1</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM period</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1601</Index>
+					<Name>PWM Outputs Channel 2</Name>
+					<Exclude>#x1603</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1603</Index>
+					<Name>PWM Outputs Channel 2</Name>
+					<Exclude>#x1601</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM period</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE PdoAssign="1" SdoInfo="1"/>
+					<FoE/>
+				</Mailbox>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030400000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x9c63052" RevisionNo="#x00130000">EL2502</Type>
+				<HideType RevisionNo="#x00110000"/>
+				<HideType RevisionNo="#x00120000"/>
+				<Name LcId="1033">EL2502 2Ch. PWM output, 24V</Name>
+				<Name LcId="1031">EL2502 2K. PWM Ausgang, 24V</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2502]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2502]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>150</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ProfileNo>5001</ProfileNo>
+					<AddInfo>250</AddInfo>
+					<ChannelCount>2</ChannelCount>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>2</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BIT3</Name>
+								<BitSize>3</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>INT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..1] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>16</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(11)</Name>
+								<BitSize>88</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0800EN03</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>3</BitSize>
+								<EnumInfo>
+									<Text>Signed Presentation</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Unsigned resentation</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Absolute value with MSB</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Absolute value</Text>
+									<Enum>3</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Default Watchdog value</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Watchdog ramp</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Last value</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>PWM 20Hz...20kHz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Reserved.</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>PWM 100ns frq. res.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>PWM 1Hz...20kHz</Text>
+									<Enum>3</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</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>
+								</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>
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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>
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+							<DataType>
+								<Name>DT1602</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
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+										<Access>ro</Access>
+										<Category>o</Category>
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+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
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+										<Access>ro</Access>
+										<Category>o</Category>
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+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
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+										<Access>ro</Access>
+										<Category>o</Category>
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+								<Name>DT1C00ARR</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>32</BitSize>
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+									<Elements>4</Elements>
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+								<BitSize>48</BitSize>
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+									<BitSize>8</BitSize>
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+										<Access>ro</Access>
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+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
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+										<Access>ro</Access>
+										<Category>o</Category>
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+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
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+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>0</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>0</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>16</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>0</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>344</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Minimum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Maximum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>288</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>320</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>336</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>PWM output</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>PWM period</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>160</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Enable user scale</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Presentation</Name>
+									<Type>DT0800EN03</Type>
+									<BitSize>3</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Watchdog</Name>
+									<Type>DT0801EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Operation mode</Name>
+									<Type>DT0802EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Offset</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Gain</Name>
+									<Type>DINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Default output</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Default output ramp</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Period PWM 20Hz..20kHz[µs]</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>22</SubIdx>
+									<Name>Period PWM 1Hz..20kHz [µs]</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT800E</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Timer resolution</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Duty cycle</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>64</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>64</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>8913fa00</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(11)</Type>
+								<BitSize>88</BitSize>
+								<Info>
+									<DefaultData>454c323530322d30303030</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230c609</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>00001300</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Serial number</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x10f0</Index>
+								<Name>Backup parameter handling</Name>
+								<Type>DT10F0</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Checksum</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1400</Index>
+								<Name>PWM RxPDO-Par Ch.1</Name>
+								<Type>DT1400</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>0216</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1401</Index>
+								<Name>PWM RxPDO-Par Ch.2</Name>
+								<Type>DT1400</Type>
+								<BitSize>32</BitSize>
+								<Info>
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+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="128" MaxSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="128" MaxSize="128" DefaultSize="128" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="0" StartAddress="#x1180" ControlByte="#x0" Enable="0">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>PWM Outputs Channel 1</Name>
+					<Exclude>#x1602</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1601</Index>
+					<Name>PWM Outputs Channel 2</Name>
+					<Exclude>#x1603</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>PWM Outputs Channel 1</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM period</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1603</Index>
+					<Name>PWM Outputs Channel 2</Name>
+					<Exclude>#x1601</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM period</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1"/>
+					<FoE/>
+				</Mailbox>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030000000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x9c63052" RevisionNo="#x00140000">EL2502</Type>
+				<HideType RevisionNo="#x00110000"/>
+				<HideType RevisionNo="#x00120000"/>
+				<HideType RevisionNo="#x00130000"/>
+				<Name LcId="1033">EL2502 2Ch. PWM output, 24V</Name>
+				<Name LcId="1031">EL2502 2K. PWM Ausgang, 24V</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2502]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2502]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>150</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+					<VendorSpecific>
+						<TwinCAT>
+							<AlternativeSmMapping Default="1">
+								<Name>Pulswith (standard)</Name>
+								<Sm No="2">
+									<Pdo>#x1600</Pdo>
+									<Pdo>#x1601</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+							<AlternativeSmMapping>
+								<Name>Pulswith and frequency (16 bit)</Name>
+								<Sm No="2">
+									<Pdo>#x1602</Pdo>
+									<Pdo>#x1603</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+						</TwinCAT>
+					</VendorSpecific>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ProfileNo>5001</ProfileNo>
+					<AddInfo>250</AddInfo>
+					<ChannelCount>2</ChannelCount>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>2</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BIT3</Name>
+								<BitSize>3</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>INT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..1] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>16</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(11)</Name>
+								<BitSize>88</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0800EN03</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>3</BitSize>
+								<EnumInfo>
+									<Text>Signed Presentation</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Unsigned Presentation</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Absolute value with MSB</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Absolute value</Text>
+									<Enum>3</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Default Watchdog value</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Watchdog ramp</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Last value</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>PWM 20Hz...20kHz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Reserved.</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>PWM 100ns frq. res.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>PWM 1Hz...20kHz</Text>
+									<Enum>3</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1400</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude RxPDOs</Name>
+									<Type>ARRAY [0..1] OF BYTE</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1602</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C00ARR</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C00</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>0</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>0</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>16</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>0</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>344</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Minimum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Maximum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>288</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>320</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>336</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>PWM output</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>PWM period</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>160</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Enable user scale</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Presentation</Name>
+									<Type>DT0800EN03</Type>
+									<BitSize>3</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Watchdog</Name>
+									<Type>DT0801EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Operation mode</Name>
+									<Type>DT0802EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Offset</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Gain</Name>
+									<Type>DINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Default output</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Default output ramp</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Period PWM 20Hz..20kHz[µs]</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>22</SubIdx>
+									<Name>Period PWM 1Hz..20kHz [µs]</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT800E</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Timer resolution</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Duty cycle</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>64</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>64</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>8913fa00</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(11)</Type>
+								<BitSize>88</BitSize>
+								<Info>
+									<DefaultData>454c323530322d30303030</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230c609</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>00001300</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Serial number</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x10f0</Index>
+								<Name>Backup parameter handling</Name>
+								<Type>DT10F0</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Checksum</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1400</Index>
+								<Name>PWM RxPDO-Par Ch.1</Name>
+								<Type>DT1400</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>0216</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1401</Index>
+								<Name>PWM RxPDO-Par Ch.2</Name>
+								<Type>DT1400</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>0316</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1402</Index>
+								<Name>PWM RxPDO-Par h.1 Ch.1</Name>
+								<Type>DT1400</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>0016</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1403</Index>
+								<Name>PWM RxPDO-Par h.1 Ch.2</Name>
+								<Type>DT1400</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>0116</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1600</Index>
+								<Name>PWM RxPDO-Map Ch.1</Name>
+								<Type>DT1600</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10110070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1601</Index>
+								<Name>PWM RxPDO-Map Ch.2</Name>
+								<Type>DT1600</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10111070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1602</Index>
+								<Name>PWM RxPDO-Map h.1 Ch.1</Name>
+								<Type>DT1602</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10110070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>10120070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1603</Index>
+								<Name>PWM RxPDO-Map h.1 Ch.2</Name>
+								<Type>DT1602</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10111070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>10121070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c00</Index>
+								<Name>Sync manager type</Name>
+								<Type>DT1C00</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 004</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c12</Index>
+								<Name>RxPDO assign</Name>
+								<Type>DT1C12</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>0016</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>0116</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c13</Index>
+								<Name>TxPDO assign</Name>
+								<Type>DT1C13</Type>
+								<BitSize>8</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
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+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
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+							</Object>
+							<Object>
+								<Index>#x1c32</Index>
+								<Name>SM output parameter</Name>
+								<Type>DT1C32</Type>
+								<BitSize>344</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>20</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sync mode</Name>
+										<Info>
+											<DefaultData>0100</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Cycle time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Shift time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sync modes supported</Name>
+										<Info>
+											<DefaultData>07c0</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Minimum cycle time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Calc and copy time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Minimum delay time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Command</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum delay time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SM event missed counter</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Cycle exceeded counter</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Shift too short counter</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sync error</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7000</Index>
+								<Name>PWM Outputs Ch.1</Name>
+								<Type>DT7000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>12</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>PWM output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>PWM period</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7010</Index>
+								<Name>PWM Outputs Ch.2</Name>
+								<Type>DT7000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>12</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>PWM output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>PWM period</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8000</Index>
+								<Name>PWM Settings Ch.1</Name>
+								<Type>DT8000</Type>
+								<BitSize>160</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>16</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable user scale</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Presentation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operation mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Offset</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Gain</Name>
+										<Info>
+											<DefaultData>00000100</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output ramp</Name>
+										<Info>
+											<DefaultData>ffff</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Period PWM 20Hz..20kHz[µs]</Name>
+										<Info>
+											<DefaultData>a00f</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Period PWM 1Hz..20kHz [µs]</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#xf4240</MaxValue>
+											<DefaultValue>#x186a0</DefaultValue>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x800e</Index>
+								<Name>PWM Internal data Ch.1</Name>
+								<Type>DT800E</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Timer resolution</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Duty cycle</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8010</Index>
+								<Name>PWM Settings Ch.2</Name>
+								<Type>DT8000</Type>
+								<BitSize>160</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>16</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable user scale</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Presentation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operation mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Offset</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Gain</Name>
+										<Info>
+											<DefaultData>00000100</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output ramp</Name>
+										<Info>
+											<DefaultData>ffff</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Period PWM 20Hz..20kHz[µs]</Name>
+										<Info>
+											<DefaultData>a00f</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Period PWM 1Hz..20kHz [µs]</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#xf4240</MaxValue>
+											<DefaultValue>#x186a0</DefaultValue>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x801e</Index>
+								<Name>PWM Internal data Ch.2</Name>
+								<Type>DT800E</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Timer resolution</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Duty cycle</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0200</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</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>
+										</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 MinSize="128" MaxSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="128" MaxSize="128" DefaultSize="128" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="0" StartAddress="#x1180" ControlByte="#x0" Enable="0">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>PWM Outputs Channel 1</Name>
+					<Exclude>#x1602</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1601</Index>
+					<Name>PWM Outputs Channel 2</Name>
+					<Exclude>#x1603</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>PWM Outputs Channel 1</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM period</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1603</Index>
+					<Name>PWM Outputs Channel 2</Name>
+					<Exclude>#x1601</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM period</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1"/>
+					<FoE/>
+				</Mailbox>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030000000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09d93052" RevisionNo="#x00000000">EL2521</Type>
+				<Name LcId="1033"><![CDATA[EL2521 1Ch. Pulse Train Output]]></Name>
+				<Name LcId="1031"><![CDATA[EL2521 1K. Pulse Train Ausgang]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>280</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ProfileNo>5001</ProfileNo>
+					<AddInfo>252</AddInfo>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(11)</Name>
+								<BitSize>88</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(16)</Name>
+								<BitSize>128</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0029</Name>
+								<BitSize>16</BitSize>
+								<EnumInfo>
+									<Text>Free Run</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Synchron</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>SYNC0 Event</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0800</Name>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801</Name>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor Id</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product Code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision Number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial Number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>RxPDO Mapping Element 1: Ctrl</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>RxPDO Mapping Element 2: Data Out</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A00</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>TxPDO Mapping Element 1: Status</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>TxPDO Mapping Element 2: Data In</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C00ARR</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C00</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<MinValue>0</MinValue>
+									<MaxValue>1</MaxValue>
+									<DefaultValue>1</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Assigned RxPDO</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<MinValue>#x1600</MinValue>
+									<MaxValue>#x1600</MaxValue>
+									<DefaultValue>#x1600</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<MinValue>0</MinValue>
+									<MaxValue>1</MaxValue>
+									<DefaultValue>1</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Assigned TxPDO</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<MinValue>#x1600</MinValue>
+									<MaxValue>#x1600</MaxValue>
+									<DefaultValue>#x1600</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Status</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data In</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Ctrl</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data Out</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Rising edge clears/sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0800</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Rising edge sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0801</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>15</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8001</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<MinValue>#x00</MinValue>
+									<MaxValue>#xffff</MaxValue>
+									<DefaultValue>0</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<MinValue>#x64</MinValue>
+									<MaxValue>#x0007a120</MaxValue>
+									<DefaultValue>50000</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<MinValue>#x64</MinValue>
+									<MaxValue>#x0007a120</MaxValue>
+									<DefaultValue>100000</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<MinValue>#x00</MinValue>
+									<MaxValue>#xffff</MaxValue>
+									<DefaultValue>1000</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<MinValue>#x00</MinValue>
+									<MaxValue>#xffff</MaxValue>
+									<DefaultValue>1000</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<MinValue>#x01</MinValue>
+									<MaxValue>#xffff</MaxValue>
+									<DefaultValue>100</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<MinValue>#x00</MinValue>
+									<MaxValue>#x7fff</MaxValue>
+									<DefaultValue>50</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<MinValue>#x00</MinValue>
+									<MaxValue>#xffff</MaxValue>
+									<DefaultValue>1000</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8800</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Target counter state</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<MinValue>#x00</MinValue>
+									<MaxValue>#xffffffff</MaxValue>
+									<DefaultValue>0</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>48</BitOffs>
+									<MinValue>#x00</MinValue>
+									<MaxValue>#x7fff</MaxValue>
+									<DefaultValue>0</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTA000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Counter extension</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000ARR</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>8</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF000</Name>
+								<BitSize>24</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF000ARR</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device Type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device Name</Name>
+								<Type>STRING(11)</Type>
+								<BitSize>88</BitSize>
+								<Info>
+									<DefaultData>454c323532312d30303030</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware Version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software Version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Load Default Settings</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>010000000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<DefaultData>0400020000005230d9090000000000000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1600</Index>
+								<Name>Outputs</Name>
+								<Type>DT1600</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<DefaultData>02001001007010020070</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1a00</Index>
+								<Name>Inputs</Name>
+								<Type>DT1A00</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<DefaultData>02001001006010020060</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c00</Index>
+								<Name>Sync Manager Type</Name>
+								<Type>DT1C00</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>040001020304</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c01</Index>
+								<Name>Process Data Format</Name>
+								<Type>UINT</Type>
+								<BitSize>16</BitSize>
+								<Info>
+									<DefaultData>0001</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c12</Index>
+								<Name>SM 002 RxPDO Assign</Name>
+								<Type>DT1C12</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>01000016</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c13</Index>
+								<Name>SM 003 TxPDO Assign</Name>
+								<Type>DT1C13</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>01000016</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x6000</Index>
+								<Name>Inputs</Name>
+								<Type>DT6000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>020000000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7000</Index>
+								<Name>Outputs</Name>
+								<Type>DT7000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>020000000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8000</Index>
+								<Name>Feature bits</Name>
+								<Type>DT8000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>0f003000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8001</Index>
+								<Name>User settings</Name>
+								<Type>DT8001</Type>
+								<BitSize>176</BitSize>
+								<Info>
+									<DefaultData>0800000050c30000a0860100e803e80364003200e803</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8800</Index>
+								<Name>Volatile Settings</Name>
+								<Type>DT8800</Type>
+								<BitSize>64</BitSize>
+								<Info>
+									<DefaultData>0200000000000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xa000</Index>
+								<Name>Diagnostic Parameter</Name>
+								<Type>DTA000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>01000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Profile Settings</Name>
+								<Type>DTF000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>02001001</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code Word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Sm DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>Outputs</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>Inputs</Name>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Status</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data In</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox>
+					<CoE SdoInfo="1" PdoAssign="0" PdoConfig="0"/>
+					<FoE/>
+				</Mailbox>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>050003080000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09d93052" RevisionNo="#x3F80000">EL2521</Type>
+				<HideType RevisionNo="#x00000000" ProductRevision="EL2521-0000-0000"/>
+				<Name LcId="1033">EL2521 1Ch. Pulse Train Output</Name>
+				<Name LcId="1031">EL2521 1K. Pulse Train Ausgang</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>280</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+					<VendorSpecific>
+						<TwinCAT>
+							<AlternativeSmMapping>
+								<Name>Legacy (MDP 252)</Name>
+								<Sm No="2">
+									<Pdo>#x1600</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a00</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+							<AlternativeSmMapping Default="1">
+								<Name>Standard 16 Bit (MDP 253/511)</Name>
+								<Sm No="2">
+									<Pdo>#x1601</Pdo>
+									<Pdo>#x1604</Pdo>
+									<Pdo>#x1602</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a01</Pdo>
+									<Pdo>#x1a02</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+							<AlternativeSmMapping>
+								<Name>Standard 32 Bit (MDP 253/511)</Name>
+								<Sm No="2">
+									<Pdo>#x1601</Pdo>
+									<Pdo>#x1607</Pdo>
+									<Pdo>#x1605</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a01</Pdo>
+									<Pdo>#x1a05</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+						</TwinCAT>
+					</VendorSpecific>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>252</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>253</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>511</AddInfo>
+					</ChannelInfo>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>0</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..5] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>6</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..9] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>80</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>10</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(6)</Name>
+								<BitSize>48</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0800EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0803EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1400</Name>
+								<BitSize>96</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude RxPDOs</Name>
+									<Type>ARRAY [0..9] OF BYTE</Type>
+									<BitSize>80</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1601</Name>
+								<BitSize>208</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1602</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1604</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1800</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1801</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>TxPDO-Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A01</Name>
+								<BitSize>336</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>SubIndex 009</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>SubIndex 010</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C00ARR</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C00</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>280</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>192</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>256</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Status</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data In</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6010</Name>
+								<BitSize>24</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sel. Ack/End counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Status of input target</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Status of input zero</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter done</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Counter underflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Counter overflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Ctrl</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data Out</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7010</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Frequency select</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Disable ramp</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Go counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Frequency value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Target counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>40</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Set counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Rising edge clears/sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0800EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Rising edge sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0801EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>15</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>28</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8001</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8010</Name>
+								<BitSize>192</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0802EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0803EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>22</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>23</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>24</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8800</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Target counter state</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTA000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Counter extension</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>96</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>112</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>96</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>89130000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(6)</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>454c32353231</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230d909</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>0000f803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Serial number</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x10f0</Index>
+								<Name>Backup parameter handling</Name>
+								<Type>DT10F0</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Checksum</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1400</Index>
+								<Name>RxPDO-Par</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>01160416071602160516</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1401</Index>
+								<Name>PTO RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160000000000000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1402</Index>
+								<Name>ENC RxPDO-Par Control compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160516071600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1404</Index>
+								<Name>PTO RxPDO-Par Target compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160516071600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1405</Index>
+								<Name>ENC RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160216041600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1407</Index>
+								<Name>PTO RxPDO-Par Target</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160216041600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1600</Index>
+								<Name>RxPDO-Map</Name>
+								<Type>DT1600</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10010070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>10020070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1601</Index>
+								<Name>PTO RxPDO-Map Control</Name>
+								<Type>DT1601</Type>
+								<BitSize>208</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>01011070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
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+							<Object>
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+								<Info>
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+							<Object>
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+								<Type>DT1C13</Type>
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+								<Info>
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+							<Object>
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+								<Info>
+									<SubItem>
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+									</SubItem>
+									<SubItem>
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+										<Info>
+											<DefaultData>0100</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Cycle time</Name>
+										<Info>
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+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Shift time</Name>
+										<Info>
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+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sync modes supported</Name>
+										<Info>
+											<DefaultData>07c0</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Minimum cycle time</Name>
+										<Info>
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+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Calc and copy time</Name>
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+										</Info>
+									</SubItem>
+									<SubItem>
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+										</Info>
+									</SubItem>
+									<SubItem>
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+										<Info>
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+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SM event missed counter</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
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+								<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="#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>
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+							<DataType>
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+										<Access>ro</Access>
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+								<SubItem>
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+										<Access>rw</Access>
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+										<Access>ro</Access>
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+										<Access>ro</Access>
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+										<Access>ro</Access>
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+							<DataType>
+								<Name>DT10F0</Name>
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+										<Category>o</Category>
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+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
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+										<Access>ro</Access>
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+										<Access>ro</Access>
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+										<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>
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+									</SubItem>
+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Travel distance control active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operating mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Negative logic</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 1</Name>
+										<Info>
+											<MinValue>100</MinValue>
+											<MaxValue>500000</MaxValue>
+											<DefaultValue>50000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>100</MinValue>
+											<MaxValue>500000</MaxValue>
+											<DefaultValue>100000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>1</MinValue>
+											<MaxValue>65535</MaxValue>
+											<DefaultValue>100</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>0</MinValue>
+											<MaxValue>32767</MaxValue>
+											<DefaultValue>50</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8800</Index>
+								<Name>Volatile settings</Name>
+								<Type>DT8800</Type>
+								<BitSize>64</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Target counter state</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum frequency</Name>
+										<Info>
+											<MinValue>0</MinValue>
+											<MaxValue>32767</MaxValue>
+											<DefaultValue>0</DefaultValue>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xa000</Index>
+								<Name>Diagnostic parameter</Name>
+								<Type>DTA000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter extension</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0300</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>112</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fc000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fd000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>ff010000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="64" MaxSize="128" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="64" MaxSize="128" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>Outputs</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1601</Index>
+					<Name>PTO Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Frequency select</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Disable ramp</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Go counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Frequency value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1604</Index>
+					<Name>PTO Target compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1607</Index>
+					<Name>PTO Target</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>ENC Control compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1605</Index>
+					<Name>ENC Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>Inputs</Name>
+					<Exclude>#x1a01</Exclude>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a05</Exclude>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Status</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data In</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
+					<Name>PTO Status</Name>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sel. Ack/End counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Ramp active</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Status of input target</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Status of input zero</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>6</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1801</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a02</Index>
+					<Name>ENC Status compact</Name>
+					<Exclude>#x1a05</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a05</Index>
+					<Name>ENC Status</Name>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1805</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Dc>
+					<OpMode>
+						<Name>Synchron</Name>
+						<Desc>FreeRun/SM-Synchron</Desc>
+						<AssignActivate>#x0</AssignActivate>
+						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DC</Name>
+						<Desc>DC-Synchron</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030c32000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09d93052" RevisionNo="#x03FA0000">EL2521</Type>
+				<HideType RevisionNo="#x00000000"/>
+				<HideType RevisionNo="#x03F80000"/>
+				<HideType RevisionNo="#x03F90000"/>
+				<Name LcId="1033">EL2521 1Ch. Pulse Train Output</Name>
+				<Name LcId="1031">EL2521 1K. Pulse Train Ausgang</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>280</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+					<VendorSpecific>
+						<TwinCAT>
+							<AlternativeSmMapping>
+								<Name>Legacy (MDP 252)</Name>
+								<Sm No="2">
+									<Pdo>#x1600</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a00</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+							<AlternativeSmMapping Default="1">
+								<Name>Standard 16 Bit (MDP 253/511)</Name>
+								<Sm No="2">
+									<Pdo>#x1601</Pdo>
+									<Pdo>#x1604</Pdo>
+									<Pdo>#x1602</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a01</Pdo>
+									<Pdo>#x1a02</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+							<AlternativeSmMapping>
+								<Name>Standard 32 Bit (MDP 253/511)</Name>
+								<Sm No="2">
+									<Pdo>#x1601</Pdo>
+									<Pdo>#x1607</Pdo>
+									<Pdo>#x1605</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a01</Pdo>
+									<Pdo>#x1a05</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+						</TwinCAT>
+					</VendorSpecific>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>252</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>253</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>511</AddInfo>
+					</ChannelInfo>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>0</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..5] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>6</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..9] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>80</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>10</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(6)</Name>
+								<BitSize>48</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0800EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0803EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1400</Name>
+								<BitSize>96</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude RxPDOs</Name>
+									<Type>ARRAY [0..9] OF BYTE</Type>
+									<BitSize>80</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1601</Name>
+								<BitSize>208</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1602</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1604</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1800</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1801</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>TxPDO-Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A01</Name>
+								<BitSize>336</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>SubIndex 009</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>SubIndex 010</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C00ARR</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C00</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>280</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>192</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>256</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Status</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data In</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6010</Name>
+								<BitSize>24</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sel. Ack/End counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Status of input target</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Status of input zero</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter done</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Counter underflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Counter overflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Ctrl</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data Out</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7010</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Frequency select</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Disable ramp</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Go counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Frequency value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Target counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>40</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Set counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Rising edge clears/sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0800EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Rising edge sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0801EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>15</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>28</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8001</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8010</Name>
+								<BitSize>192</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0802EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0803EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>22</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>23</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>24</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8800</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Target counter state</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTA000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Counter extension</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
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+											<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="54" MaxSize="54" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="54" MaxSize="54" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>Outputs</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1601</Index>
+					<Name>PTO Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Frequency select</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Disable ramp</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Go counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Frequency value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1604</Index>
+					<Name>PTO Target compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1607</Index>
+					<Name>PTO Target</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>ENC Control compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1605</Index>
+					<Name>ENC Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>Inputs</Name>
+					<Exclude>#x1a01</Exclude>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a05</Exclude>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Status</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data In</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
+					<Name>PTO Status</Name>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sel. Ack/End counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Ramp active</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Status of input target</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Status of input zero</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>6</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1801</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a02</Index>
+					<Name>ENC Status compact</Name>
+					<Exclude>#x1a05</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a05</Index>
+					<Name>ENC Status</Name>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1805</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Dc>
+					<OpMode>
+						<Name>Synchron</Name>
+						<Desc>FreeRun/SM-Synchron</Desc>
+						<AssignActivate>#x0</AssignActivate>
+						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DC</Name>
+						<Desc>DC-Synchron</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030c32000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x9d93052" RevisionNo="#x03fb0000">EL2521</Type>
+				<HideType RevisionNo="#x0"/>
+				<HideType RevisionNo="#x3f80000"/>
+				<HideType RevisionNo="#x3f90000"/>
+				<HideType RevisionNo="#x3fa0000"/>
+				<Name LcId="1033">EL2521 1Ch. Pulse Train Output</Name>
+				<Name LcId="1031">EL2521 1K. Pulse Train Ausgang</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>280</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+					<VendorSpecific>
+						<TwinCAT>
+							<AlternativeSmMapping>
+								<Name>Legacy (MDP 252)</Name>
+								<Sm No="2">
+									<Pdo>#x1600</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a00</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+							<AlternativeSmMapping Default="1">
+								<Name>Standard 16 Bit (MDP 253/511)</Name>
+								<Sm No="2">
+									<Pdo>#x1601</Pdo>
+									<Pdo>#x1602</Pdo>
+									<Pdo>#x1604</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a01</Pdo>
+									<Pdo>#x1a02</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+							<AlternativeSmMapping>
+								<Name>Standard 32 Bit (MDP 253/511)</Name>
+								<Sm No="2">
+									<Pdo>#x1601</Pdo>
+									<Pdo>#x1605</Pdo>
+									<Pdo>#x1607</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a01</Pdo>
+									<Pdo>#x1a05</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+						</TwinCAT>
+					</VendorSpecific>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>252</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>253</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>511</AddInfo>
+					</ChannelInfo>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>2</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..5] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>6</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..9] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>80</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>10</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(6)</Name>
+								<BitSize>48</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0800EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0803EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1400</Name>
+								<BitSize>96</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude RxPDOs</Name>
+									<Type>ARRAY [0..9] OF BYTE</Type>
+									<BitSize>80</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1601</Name>
+								<BitSize>208</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1602</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1604</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1800</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1801</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A01</Name>
+								<BitSize>336</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>SubIndex 009</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>SubIndex 010</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C00ARR</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C00</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>344</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Minimum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Maximum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>288</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>320</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>336</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Status</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data In</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6010</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sel. Ack/End counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Status of input target</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Status of input zero</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6020</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter done</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Counter underflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Counter overflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Ctrl</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data Out</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7010</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Frequency select</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Disable ramp</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Go counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Frequency value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Target counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7020</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Set counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Rising edge clears/sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0800EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Rising edge sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0801EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>15</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8001</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8010</Name>
+								<BitSize>192</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0802EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0803EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>22</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>23</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>24</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8800</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Target counter state</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTA000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Counter extension</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>96</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>112</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>96</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>89130000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(6)</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>454c32353231</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230d909</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>0000fb03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Serial number</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x10f0</Index>
+								<Name>Backup parameter handling</Name>
+								<Type>DT10F0</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Checksum</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1400</Index>
+								<Name>RxPDO-Par</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>01160416071602160516</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1401</Index>
+								<Name>PTO RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160000000000000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1402</Index>
+								<Name>ENC RxPDO-Par Control compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160516071600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1404</Index>
+								<Name>PTO RxPDO-Par Target compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160516071600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1405</Index>
+								<Name>ENC RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160216041600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1407</Index>
+								<Name>PTO RxPDO-Par Target</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160216041600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1600</Index>
+								<Name>RxPDO-Map</Name>
+								<Type>DT1600</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10010070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>10020070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1601</Index>
+								<Name>PTO RxPDO-Map Control</Name>
+								<Type>DT1601</Type>
+								<BitSize>208</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>01011070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>01021070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>01031070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 004</Name>
+										<Info>
+											<DefaultData>05000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 005</Name>
+										<Info>
+											<DefaultData>08000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 006</Name>
+										<Info>
+											<DefaultData>10111070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1602</Index>
+								<Name>ENC RxPDO-Map Control compact</Name>
+								<Type>DT1602</Type>
+								<BitSize>176</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>05</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>01032070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>05000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 004</Name>
+										<Info>
+											<DefaultData>08000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 005</Name>
+										<Info>
+											<DefaultData>10112070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
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+								<Info>
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+									<SubItem>
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+									<SubItem>
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+									<SubItem>
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+									<SubItem>
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+									<SubItem>
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+									<SubItem>
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+									</SubItem>
+									<SubItem>
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+										<Info>
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+										</Info>
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+									<SubItem>
+										<Name>Maximum delay time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SM event missed counter</Name>
+										<Info>
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+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Cycle exceeded counter</Name>
+										<Info>
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+									</SubItem>
+									<SubItem>
+										<Name>Shift too short counter</Name>
+										<Info>
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+									<SubItem>
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+								<Flags>
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+							<Object>
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+									<SubItem>
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+									<SubItem>
+										<Name>Data In</Name>
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+							</Object>
+							<Object>
+								<Index>#x6010</Index>
+								<Name>PTO Inputs</Name>
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+								<Info>
+									<SubItem>
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+									</SubItem>
+									<SubItem>
+										<Name>Sel. Ack/End counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Ramp active</Name>
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+									<SubItem>
+										<Name>Status of input target</Name>
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+									<SubItem>
+										<Name>Status of input zero</Name>
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+								<Flags>
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+							</Object>
+							<Object>
+								<Index>#x6020</Index>
+								<Name>ENC Inputs</Name>
+								<Type>DT6020</Type>
+								<BitSize>64</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>11</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Set counter done</Name>
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+											<DefaultData>00</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Counter underflow</Name>
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+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter overflow</Name>
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+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
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+									</SubItem>
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+								<Flags>
+									<Access>ro</Access>
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+							<Object>
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+								<Info>
+									<SubItem>
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+											<DefaultData>02</DefaultData>
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+									<SubItem>
+										<Name>Ctrl</Name>
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+									<SubItem>
+										<Name>Data Out</Name>
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+								<Flags>
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+							<Object>
+								<Index>#x7010</Index>
+								<Name>PTO Outputs</Name>
+								<Type>DT7010</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
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+											<DefaultData>12</DefaultData>
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+									<SubItem>
+										<Name>Frequency select</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Disable ramp</Name>
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+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Go counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Target counter value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
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+								</Info>
+								<Flags>
+									<Access>ro</Access>
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+							<Object>
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+										<Name>Set counter</Name>
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+									<SubItem>
+										<Name>Set counter value</Name>
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+											<DefaultData>00000000</DefaultData>
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+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
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+							</Object>
+							<Object>
+								<Index>#x8000</Index>
+								<Name>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>
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+									</SubItem>
+									<SubItem>
+										<Name>Sign/amount representation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
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+									<SubItem>
+										<Name>Rising edge clears/sets counter</Name>
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+											<DefaultData>01</DefaultData>
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+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Travel distance control active</Name>
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+											<DefaultData>00</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Rising edge sets counter</Name>
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+											<DefaultData>00</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<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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+									</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>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#xc350</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
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+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#x186a0</DefaultValue>
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+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
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+											<DefaultData>e803</DefaultData>
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+									<SubItem>
+										<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>#x1</MinValue>
+											<MaxValue>#xffff</MaxValue>
+											<DefaultValue>#x64</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#x7fff</MaxValue>
+											<DefaultValue>#x32</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
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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>
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+											<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>
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+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
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+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
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+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
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+									<SubItem>
+										<Name>Travel distance control active</Name>
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+										<Name>Negative logic</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
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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>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#xc350</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#x186a0</DefaultValue>
+										</Info>
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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>
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+											<MinValue>#x1</MinValue>
+											<MaxValue>#xffff</MaxValue>
+											<DefaultValue>#x64</DefaultValue>
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+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#x7fff</MaxValue>
+											<DefaultValue>#x32</DefaultValue>
+										</Info>
+									</SubItem>
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+										<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>
+							<Object>
+								<Index>#x8800</Index>
+								<Name>Volatile settings</Name>
+								<Type>DT8800</Type>
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+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Target counter state</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum frequency</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#x7fff</MaxValue>
+											<DefaultValue>#x0</DefaultValue>
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+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
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+							<Object>
+								<Index>#xa000</Index>
+								<Name>Diagnostic parameter</Name>
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+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Counter extension</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
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+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
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+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>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>
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+								<Info>
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+										<Name>SubIndex 000</Name>
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+											<DefaultData>ff010000</DefaultData>
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+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
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+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="54" MaxSize="128" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="54" MaxSize="128" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>Outputs</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1601</Index>
+					<Name>PTO Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Frequency select</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Disable ramp</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Go counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Frequency value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1604</Index>
+					<Name>PTO Target compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1607</Index>
+					<Name>PTO Target</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>ENC Control compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1605</Index>
+					<Name>ENC Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>Inputs</Name>
+					<Exclude>#x1a01</Exclude>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a05</Exclude>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Status</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data In</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
+					<Name>PTO Status</Name>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sel. Ack/End counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Ramp active</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Status of input target</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Status of input zero</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>6</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1801</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a02</Index>
+					<Name>ENC Status compact</Name>
+					<Exclude>#x1a05</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a05</Index>
+					<Name>ENC Status</Name>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1805</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Dc>
+					<OpMode>
+						<Name>Synchron</Name>
+						<Desc>FreeRun/SM-Synchron</Desc>
+						<AssignActivate>#x0</AssignActivate>
+						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DC</Name>
+						<Desc>DC-Synchron</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0 Input="0">0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030c32000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09d93052" RevisionNo="#x3F80018">EL2521-0024</Type>
+				<Name LcId="1033">EL2521-0024 1Ch. Pulse Train 24V DC Output</Name>
+				<Name LcId="1031">EL2521-0024 1K. Pulse Train 24V DC Ausgang</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>280</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>252</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>253</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>511</AddInfo>
+					</ChannelInfo>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>0</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..5] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>6</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..9] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>80</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>10</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(6)</Name>
+								<BitSize>48</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0800EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0803EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1400</Name>
+								<BitSize>96</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude RxPDOs</Name>
+									<Type>ARRAY [0..9] OF BYTE</Type>
+									<BitSize>80</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1601</Name>
+								<BitSize>208</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1602</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1604</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1800</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1801</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>TxPDO-Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A01</Name>
+								<BitSize>336</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>SubIndex 009</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>SubIndex 010</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C00ARR</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C00</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>280</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>192</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>256</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Status</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data In</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6010</Name>
+								<BitSize>24</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sel. Ack/End counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Status of input target</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Status of input zero</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter done</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Counter underflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Counter overflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Ctrl</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data Out</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7010</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Frequency select</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Disable ramp</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Go counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Frequency value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Target counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>40</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Set counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Rising edge clears/sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0800EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Rising edge sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0801EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>15</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>28</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8001</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8010</Name>
+								<BitSize>192</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0802EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0803EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>22</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>23</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>24</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8800</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Target counter state</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTA000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Counter extension</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>96</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>112</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>96</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>89130000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(6)</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>454c323532312d30303234</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230d909</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>1800f803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Serial number</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x10f0</Index>
+								<Name>Backup parameter handling</Name>
+								<Type>DT10F0</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Checksum</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1400</Index>
+								<Name>RxPDO-Par</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>01160416071602160516</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1401</Index>
+								<Name>PTO RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160000000000000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1402</Index>
+								<Name>ENC RxPDO-Par Control compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160516071600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1404</Index>
+								<Name>PTO RxPDO-Par Target compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
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+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>1</MinValue>
+											<MaxValue>65535</MaxValue>
+											<DefaultValue>100</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>0</MinValue>
+											<MaxValue>32767</MaxValue>
+											<DefaultValue>50</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8800</Index>
+								<Name>Volatile settings</Name>
+								<Type>DT8800</Type>
+								<BitSize>64</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Target counter state</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum frequency</Name>
+										<Info>
+											<MinValue>0</MinValue>
+											<MaxValue>32767</MaxValue>
+											<DefaultValue>0</DefaultValue>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xa000</Index>
+								<Name>Diagnostic parameter</Name>
+								<Type>DTA000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter extension</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0300</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>112</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fc000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fd000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>ff010000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="64" MaxSize="128" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="64" MaxSize="128" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>Outputs</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1601</Index>
+					<Name>PTO Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Frequency select</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Disable ramp</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Go counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Frequency value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1604</Index>
+					<Name>PTO Target compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1607</Index>
+					<Name>PTO Target</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>ENC Control compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1605</Index>
+					<Name>ENC Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>Inputs</Name>
+					<Exclude>#x1a01</Exclude>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a05</Exclude>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Status</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data In</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
+					<Name>PTO Status</Name>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sel. Ack/End counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Ramp active</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of input target</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of input zero</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>6</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1801</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a02</Index>
+					<Name>ENC Status compact</Name>
+					<Exclude>#x1a05</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a05</Index>
+					<Name>ENC Status</Name>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1805</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Dc>
+					<OpMode>
+						<Name>Synchron</Name>
+						<Desc>FreeRun/SM-Synchron</Desc>
+						<AssignActivate>#x0</AssignActivate>
+						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DC</Name>
+						<Desc>DC-Synchron</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030c32000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09d93052" RevisionNo="#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>
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+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>1</MinValue>
+											<MaxValue>65535</MaxValue>
+											<DefaultValue>100</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>0</MinValue>
+											<MaxValue>32767</MaxValue>
+											<DefaultValue>50</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8010</Index>
+								<Name>PTO Settings</Name>
+								<Type>DT8010</Type>
+								<BitSize>192</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>18</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Emergency ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog timer deactive</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sign/amount representation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Travel distance control active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operating mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Negative logic</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 1</Name>
+										<Info>
+											<MinValue>100</MinValue>
+											<MaxValue>500000</MaxValue>
+											<DefaultValue>50000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>100</MinValue>
+											<MaxValue>500000</MaxValue>
+											<DefaultValue>100000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>1</MinValue>
+											<MaxValue>65535</MaxValue>
+											<DefaultValue>100</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>0</MinValue>
+											<MaxValue>32767</MaxValue>
+											<DefaultValue>50</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8800</Index>
+								<Name>Volatile settings</Name>
+								<Type>DT8800</Type>
+								<BitSize>64</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Target counter state</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum frequency</Name>
+										<Info>
+											<MinValue>0</MinValue>
+											<MaxValue>32767</MaxValue>
+											<DefaultValue>0</DefaultValue>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xa000</Index>
+								<Name>Diagnostic parameter</Name>
+								<Type>DTA000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter extension</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0300</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>112</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fc000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fd000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>ff010000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="54" MaxSize="54" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="54" MaxSize="54" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>Outputs</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1601</Index>
+					<Name>PTO Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>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>
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+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<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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+										<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>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
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+							<DataType>
+								<Name>DTF000</Name>
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+								<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>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
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+									<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>
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+									<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>
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+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
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+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
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+										<Access>rw</Access>
+										<Category>o</Category>
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+								<SubItem>
+									<Name>Elements</Name>
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+									<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>
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+								<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>454c323532312d30303234</DefaultData>
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+								<Flags>
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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>
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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>
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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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+								<Name>Identity</Name>
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+										<Name>SubIndex 000</Name>
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+											<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>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>1800fa03</DefaultData>
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+									<SubItem>
+										<Name>Serial number</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
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+							<Object>
+								<Index>#x1400</Index>
+								<Name>RxPDO-Par</Name>
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+											<DefaultData>06</DefaultData>
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+										<Name>Exclude RxPDOs</Name>
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+							<Object>
+								<Index>#x1401</Index>
+								<Name>PTO RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
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+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
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+											<DefaultData>06</DefaultData>
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+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
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+									<Category>o</Category>
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+							<Object>
+								<Index>#x1402</Index>
+								<Name>ENC RxPDO-Par Control compact</Name>
+								<Type>DT1400</Type>
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+								<Info>
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+										<Name>SubIndex 000</Name>
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+											<DefaultData>06</DefaultData>
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+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
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+									<Category>o</Category>
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+							<Object>
+								<Index>#x1404</Index>
+								<Name>PTO RxPDO-Par Target compact</Name>
+								<Type>DT1400</Type>
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+											<DefaultData>06</DefaultData>
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+										<Name>Exclude RxPDOs</Name>
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+								</Flags>
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+							<Object>
+								<Index>#x1405</Index>
+								<Name>ENC RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
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+											<DefaultData>06</DefaultData>
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+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160216041600000000</DefaultData>
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+								<Flags>
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+									<Category>o</Category>
+								</Flags>
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+							<Object>
+								<Index>#x1407</Index>
+								<Name>PTO RxPDO-Par Target</Name>
+								<Type>DT1400</Type>
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+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
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+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
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+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1600</Index>
+								<Name>RxPDO-Map</Name>
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+								<Name>PTO RxPDO-Map Control</Name>
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+								<Name>ENC RxPDO-Map Control compact</Name>
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+								<Name>ENC RxPDO-Map Control</Name>
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+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7010</Index>
+								<Name>PTO Outputs</Name>
+								<Type>DT7010</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>12</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency select</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Disable ramp</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Go counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Target counter value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7020</Index>
+								<Name>ENC Outputs</Name>
+								<Type>DT7020</Type>
+								<BitSize>64</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>11</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Set counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Set counter value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8000</Index>
+								<Name>Feature bits</Name>
+								<Type>DT8000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>0f</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Emergency ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog timer deactive</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sign/amount representation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Rising edge clears/sets counter</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Travel distance control active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Rising edge sets counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operating mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Negative logic</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8001</Index>
+								<Name>User settings</Name>
+								<Type>DT8001</Type>
+								<BitSize>176</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>08</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 1</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#xc350</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#x186a0</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#xffff</MaxValue>
+											<DefaultValue>#x64</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#x7fff</MaxValue>
+											<DefaultValue>#x32</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8010</Index>
+								<Name>PTO Settings</Name>
+								<Type>DT8010</Type>
+								<BitSize>192</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>18</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Emergency ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog timer deactive</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sign/amount representation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Travel distance control active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operating mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Negative logic</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 1</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#xc350</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#x186a0</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#xffff</MaxValue>
+											<DefaultValue>#x64</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#x7fff</MaxValue>
+											<DefaultValue>#x32</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8800</Index>
+								<Name>Volatile settings</Name>
+								<Type>DT8800</Type>
+								<BitSize>64</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Target counter state</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum frequency</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#x7fff</MaxValue>
+											<DefaultValue>#x0</DefaultValue>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xa000</Index>
+								<Name>Diagnostic parameter</Name>
+								<Type>DTA000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter extension</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0300</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>112</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fc000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fd000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>ff010000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="54" MaxSize="128" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="54" MaxSize="128" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>Outputs</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1601</Index>
+					<Name>PTO Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Frequency select</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Disable ramp</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Go counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Frequency value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1604</Index>
+					<Name>PTO Target compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1607</Index>
+					<Name>PTO Target</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>ENC Control compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1605</Index>
+					<Name>ENC Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>Inputs</Name>
+					<Exclude>#x1a01</Exclude>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a05</Exclude>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Status</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data In</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
+					<Name>PTO Status</Name>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sel. Ack/End counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Ramp active</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Status of input target</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Status of input zero</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>6</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1801</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a02</Index>
+					<Name>ENC Status compact</Name>
+					<Exclude>#x1a05</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a05</Index>
+					<Name>ENC Status</Name>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1805</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Dc>
+					<OpMode>
+						<Name>Synchron</Name>
+						<Desc>FreeRun/SM-Synchron</Desc>
+						<AssignActivate>#x0</AssignActivate>
+						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DC</Name>
+						<Desc>DC-Synchron</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0 Input="0">0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030c32000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09d93052" RevisionNo="#x3F80019">EL2521-0025</Type>
+				<Name LcId="1033">EL2521-0025 1Ch. Pulse Train 24V DC Output negative</Name>
+				<Name LcId="1031">EL2521-0025 1K. Pulse Train 24V DC Ausgang negativ</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>280</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>252</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>253</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>511</AddInfo>
+					</ChannelInfo>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>0</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..5] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>6</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..9] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>80</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>10</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(6)</Name>
+								<BitSize>48</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0800EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0803EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1400</Name>
+								<BitSize>96</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude RxPDOs</Name>
+									<Type>ARRAY [0..9] OF BYTE</Type>
+									<BitSize>80</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1601</Name>
+								<BitSize>208</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1602</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1604</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1800</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1801</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>TxPDO-Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A01</Name>
+								<BitSize>336</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>SubIndex 009</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>SubIndex 010</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C00ARR</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C00</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>280</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>192</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>256</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Status</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data In</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6010</Name>
+								<BitSize>24</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sel. Ack/End counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Status of input target</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Status of input zero</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter done</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Counter underflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Counter overflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Ctrl</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data Out</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7010</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Frequency select</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Disable ramp</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Go counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Frequency value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Target counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>40</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Set counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Rising edge clears/sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0800EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Rising edge sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0801EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>15</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>28</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8001</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8010</Name>
+								<BitSize>192</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0802EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0803EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>22</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>23</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>24</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8800</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Target counter state</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTA000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Counter extension</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>96</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>112</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>96</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>89130000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(6)</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>454c323532312d30303235</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230d909</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>1900f803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Serial number</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x10f0</Index>
+								<Name>Backup parameter handling</Name>
+								<Type>DT10F0</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Checksum</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1400</Index>
+								<Name>RxPDO-Par</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>01160416071602160516</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1401</Index>
+								<Name>PTO RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160000000000000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1402</Index>
+								<Name>ENC RxPDO-Par Control compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160516071600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1404</Index>
+								<Name>PTO RxPDO-Par Target compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160516071600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1405</Index>
+								<Name>ENC RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160216041600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1407</Index>
+								<Name>PTO RxPDO-Par Target</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160216041600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1600</Index>
+								<Name>RxPDO-Map</Name>
+								<Type>DT1600</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10010070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>10020070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1601</Index>
+								<Name>PTO RxPDO-Map Control</Name>
+								<Type>DT1601</Type>
+								<BitSize>208</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>01011070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>01021070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>01031070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 004</Name>
+										<Info>
+											<DefaultData>05000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 005</Name>
+										<Info>
+											<DefaultData>08000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 006</Name>
+										<Info>
+											<DefaultData>10111070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1602</Index>
+								<Name>ENC RxPDO-Map Control compact</Name>
+								<Type>DT1602</Type>
+								<BitSize>176</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>05</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>01032070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>05000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 004</Name>
+										<Info>
+											<DefaultData>08000000</DefaultData>
+										</Info>
+									</SubItem>
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+									<SubItem>
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+									<SubItem>
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+									<SubItem>
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+									<SubItem>
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+									<SubItem>
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+									<SubItem>
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+									<SubItem>
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+										<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>
+							<Object>
+								<Index>#x6000</Index>
+								<Name>Inputs</Name>
+								<Type>DT6000</Type>
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+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Status</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Data In</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x6010</Index>
+								<Name>PTO Inputs</Name>
+								<Type>DT6010</Type>
+								<BitSize>24</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>10</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sel. Ack/End counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Status of input target</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Status of input zero</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Error</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x6020</Index>
+								<Name>ENC Inputs</Name>
+								<Type>DT6020</Type>
+								<BitSize>56</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>16</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Set counter done</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter underflow</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter overflow</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
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+							</Object>
+							<Object>
+								<Index>#x7000</Index>
+								<Name>Outputs</Name>
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+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Ctrl</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Data Out</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
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+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7010</Index>
+								<Name>PTO Outputs</Name>
+								<Type>DT7010</Type>
+								<BitSize>72</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>12</DefaultData>
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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>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
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+							</Object>
+							<Object>
+								<Index>#x7020</Index>
+								<Name>ENC Outputs</Name>
+								<Type>DT7020</Type>
+								<BitSize>56</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>11</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Set counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Set counter value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8000</Index>
+								<Name>Feature bits</Name>
+								<Type>DT8000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>0f</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Emergency ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog timer deactive</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sign/amount representation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Rising edge clears/sets counter</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Travel distance control active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Rising edge sets counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operating mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Negative logic</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8001</Index>
+								<Name>User settings</Name>
+								<Type>DT8001</Type>
+								<BitSize>176</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>08</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 1</Name>
+										<Info>
+											<MinValue>100</MinValue>
+											<MaxValue>500000</MaxValue>
+											<DefaultValue>50000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>100</MinValue>
+											<MaxValue>500000</MaxValue>
+											<DefaultValue>100000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>1</MinValue>
+											<MaxValue>65535</MaxValue>
+											<DefaultValue>100</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>0</MinValue>
+											<MaxValue>32767</MaxValue>
+											<DefaultValue>50</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8010</Index>
+								<Name>PTO Settings</Name>
+								<Type>DT8010</Type>
+								<BitSize>192</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>18</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Emergency ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog timer deactive</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sign/amount representation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Travel distance control active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operating mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
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+									<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>
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+							</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>
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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>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>112</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fc000000</DefaultData>
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+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fd000000</DefaultData>
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+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>ff010000</DefaultData>
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+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="64" MaxSize="128" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="64" MaxSize="128" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>Outputs</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1601</Index>
+					<Name>PTO Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Frequency select</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Disable ramp</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Go counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Frequency value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1604</Index>
+					<Name>PTO Target compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1607</Index>
+					<Name>PTO Target</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>ENC Control compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1605</Index>
+					<Name>ENC Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>Inputs</Name>
+					<Exclude>#x1a01</Exclude>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a05</Exclude>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Status</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data In</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
+					<Name>PTO Status</Name>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sel. Ack/End counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Ramp active</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of input target</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of input zero</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>6</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1801</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a02</Index>
+					<Name>ENC Status compact</Name>
+					<Exclude>#x1a05</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a05</Index>
+					<Name>ENC Status</Name>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1805</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Dc>
+					<OpMode>
+						<Name>Synchron</Name>
+						<Desc>FreeRun/SM-Synchron</Desc>
+						<AssignActivate>#x0</AssignActivate>
+						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DC</Name>
+						<Desc>DC-Synchron</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030c32000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09d93052" RevisionNo="#x3F90019">EL2521-0025</Type>
+				<HideType RevisionNo="#x3F80019"/>
+				<Name LcId="1033">EL2521-0025 1Ch. Pulse Train 24V DC Output negative</Name>
+				<Name LcId="1031">EL2521-0025 1K. Pulse Train 24V DC Ausgang negativ</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>280</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>252</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>253</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>511</AddInfo>
+					</ChannelInfo>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>0</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..5] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>6</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..9] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>80</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>10</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(6)</Name>
+								<BitSize>48</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0800EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0803EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1400</Name>
+								<BitSize>96</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude RxPDOs</Name>
+									<Type>ARRAY [0..9] OF BYTE</Type>
+									<BitSize>80</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1601</Name>
+								<BitSize>208</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1602</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1604</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1800</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1801</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>TxPDO-Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A01</Name>
+								<BitSize>336</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>SubIndex 009</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>SubIndex 010</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C00ARR</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C00</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>280</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>192</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>256</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Status</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data In</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6010</Name>
+								<BitSize>24</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sel. Ack/End counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Status of input target</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Status of input zero</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter done</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Counter underflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Counter overflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Ctrl</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data Out</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7010</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Frequency select</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Disable ramp</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Go counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Frequency value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Target counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>40</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Set counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Rising edge clears/sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0800EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Rising edge sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0801EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>15</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>28</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8001</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8010</Name>
+								<BitSize>192</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0802EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0803EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>22</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>23</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>24</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8800</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Target counter state</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTA000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Counter extension</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>96</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>112</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>96</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>89130000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(6)</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>454c323532312d30303235</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230d909</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>1900f803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Serial number</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x10f0</Index>
+								<Name>Backup parameter handling</Name>
+								<Type>DT10F0</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Checksum</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1400</Index>
+								<Name>RxPDO-Par</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>01160416071602160516</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1401</Index>
+								<Name>PTO RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160000000000000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1402</Index>
+								<Name>ENC RxPDO-Par Control compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160516071600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1404</Index>
+								<Name>PTO RxPDO-Par Target compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160516071600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1405</Index>
+								<Name>ENC RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160216041600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
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+								<Name>Volatile settings</Name>
+								<Type>DT8800</Type>
+								<BitSize>64</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Target counter state</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum frequency</Name>
+										<Info>
+											<MinValue>0</MinValue>
+											<MaxValue>32767</MaxValue>
+											<DefaultValue>0</DefaultValue>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xa000</Index>
+								<Name>Diagnostic parameter</Name>
+								<Type>DTA000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter extension</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0300</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>112</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fc000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fd000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>ff010000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="54" MaxSize="54" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="54" MaxSize="54" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>Outputs</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1601</Index>
+					<Name>PTO Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Frequency select</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Disable ramp</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Go counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Frequency value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1604</Index>
+					<Name>PTO Target compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1607</Index>
+					<Name>PTO Target</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>ENC Control compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1605</Index>
+					<Name>ENC Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>Inputs</Name>
+					<Exclude>#x1a01</Exclude>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a05</Exclude>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Status</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data In</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
+					<Name>PTO Status</Name>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sel. Ack/End counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Ramp active</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of input target</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of input zero</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>6</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1801</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a02</Index>
+					<Name>ENC Status compact</Name>
+					<Exclude>#x1a05</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a05</Index>
+					<Name>ENC Status</Name>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1805</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Dc>
+					<OpMode>
+						<Name>Synchron</Name>
+						<Desc>FreeRun/SM-Synchron</Desc>
+						<AssignActivate>#x0</AssignActivate>
+						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DC</Name>
+						<Desc>DC-Synchron</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030c32000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x9d93052" RevisionNo="#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>
+									<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>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>
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+								<Index>#x8001</Index>
+								<Name>User settings</Name>
+								<Type>DT8001</Type>
+								<BitSize>176</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>08</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 1</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#xc350</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#x186a0</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#xffff</MaxValue>
+											<DefaultValue>#x64</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#x7fff</MaxValue>
+											<DefaultValue>#x32</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8010</Index>
+								<Name>PTO Settings</Name>
+								<Type>DT8010</Type>
+								<BitSize>192</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>18</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Emergency ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog timer deactive</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sign/amount representation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Travel distance control active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operating mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Negative logic</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 1</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#xc350</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#x186a0</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#xffff</MaxValue>
+											<DefaultValue>#x64</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#x7fff</MaxValue>
+											<DefaultValue>#x32</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8800</Index>
+								<Name>Volatile settings</Name>
+								<Type>DT8800</Type>
+								<BitSize>64</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Target counter state</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum frequency</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#x7fff</MaxValue>
+											<DefaultValue>#x0</DefaultValue>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xa000</Index>
+								<Name>Diagnostic parameter</Name>
+								<Type>DTA000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter extension</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0300</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>112</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fc000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fd000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>ff010000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="54" MaxSize="128" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="54" MaxSize="128" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>Outputs</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1601</Index>
+					<Name>PTO Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Frequency select</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Disable ramp</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Go counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Frequency value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1604</Index>
+					<Name>PTO Target compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1607</Index>
+					<Name>PTO Target</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>ENC Control compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1605</Index>
+					<Name>ENC Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>Inputs</Name>
+					<Exclude>#x1a01</Exclude>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a05</Exclude>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Status</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data In</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
+					<Name>PTO Status</Name>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sel. Ack/End counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Ramp active</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Status of input target</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Status of input zero</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>6</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1801</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a02</Index>
+					<Name>ENC Status compact</Name>
+					<Exclude>#x1a05</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a05</Index>
+					<Name>ENC Status</Name>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1805</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Dc>
+					<OpMode>
+						<Name>Synchron</Name>
+						<Desc>FreeRun/SM-Synchron</Desc>
+						<AssignActivate>#x0</AssignActivate>
+						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DC</Name>
+						<Desc>DC-Synchron</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0 Input="0">0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030c32000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09d93052" RevisionNo="#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>
+									<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>
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+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7020</Index>
+								<Name>PLS Outputs</Name>
+								<Type>DT7020</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>12</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable PLS</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Output</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Switch on value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Switch off value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8000</Index>
+								<Name>PTO Settings</Name>
+								<Type>DT8000</Type>
+								<BitSize>192</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>18</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Emergency ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog timer deactive</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sign/amount representation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Travel distance control active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Output set active low</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operating mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Negative logic</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 1</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#xc350</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#x186a0</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#xffff</MaxValue>
+											<DefaultValue>#x64</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#x7fff</MaxValue>
+											<DefaultValue>#x32</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0300</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>112</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fd000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>ff010000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>00020000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="54" MaxSize="128" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="54" MaxSize="128" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="14" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="10" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>PTO Control</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Frequency select</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Disable ramp</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Go counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Frequency value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1603</Index>
+					<Name>PTO Target compact</Name>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1606</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1606</Index>
+					<Name>PTO Target</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1603</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1601</Index>
+					<Name>ENC Control compact</Name>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1606</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Enable latch extern on positive edge</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Enable latch extern on negative edge</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1604</Index>
+					<Name>ENC Control</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1603</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Enable latch extern on positive edge</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Enable latch extern on negative edge</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1602</Index>
+					<Name>PLS Control compact</Name>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1606</Exclude>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Enable PLS</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Switch on value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Switch off value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1605</Index>
+					<Name>PLS Control</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1603</Exclude>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Enable PLS</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Switch on value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Switch off value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>PTO Status</Name>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sel. Ack/End counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Ramp active</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>6</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1800</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a01</Index>
+					<Name>ENC Status compact</Name>
+					<Exclude>#x1a04</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Latch extern valid</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>13</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of extern latch</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1801</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Latch value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a04</Index>
+					<Name>ENC Status</Name>
+					<Exclude>#x1a01</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Latch extern valid</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>13</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of extern latch</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1804</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Latch value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a02</Index>
+					<Name>PLS Status</Name>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>PLS Enabled</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>9</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Dc>
+					<OpMode>
+						<Name>Synchron</Name>
+						<Desc>FreeRun/SM-Synchron</Desc>
+						<AssignActivate>#x0</AssignActivate>
+						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DC</Name>
+						<Desc>DC-Synchron</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DCIN</Name>
+						<Desc>DC-Synchron (input based)</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0 Input="1">0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030c32000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#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>
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+							<Object>
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+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Target counter value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7010</Index>
+								<Name>ENC Outputs</Name>
+								<Type>DT7010</Type>
+								<BitSize>64</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>11</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable latch extern on positive edge</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Set counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable latch extern on negative edge</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Set counter value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7020</Index>
+								<Name>PLS Outputs</Name>
+								<Type>DT7020</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>12</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable PLS</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Output</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Switch on value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Switch off value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8000</Index>
+								<Name>PTO Settings</Name>
+								<Type>DT8000</Type>
+								<BitSize>192</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>18</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Emergency ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog timer deactive</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sign/amount representation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Travel distance control active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Output set active low</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operating mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Negative logic</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 1</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#xc350</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#x186a0</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#xffff</MaxValue>
+											<DefaultValue>#x64</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#x7fff</MaxValue>
+											<DefaultValue>#x32</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0300</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>112</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fd000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>ff010000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>00020000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="54" MaxSize="54" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="54" MaxSize="54" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="14" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="10" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>PTO Control</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Frequency select</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Disable ramp</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Go counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Frequency value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1603</Index>
+					<Name>PTO Target compact</Name>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1606</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1606</Index>
+					<Name>PTO Target</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1603</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1601</Index>
+					<Name>ENC Control compact</Name>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1606</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Enable latch extern on positive edge</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Enable latch extern on negative edge</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1604</Index>
+					<Name>ENC Control</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1603</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Enable latch extern on positive edge</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Enable latch extern on negative edge</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1602</Index>
+					<Name>PLS Control compact</Name>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1606</Exclude>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Enable PLS</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Switch on value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Switch off value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1605</Index>
+					<Name>PLS Control</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1603</Exclude>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Enable PLS</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Switch on value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Switch off value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>PTO Status</Name>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sel. Ack/End counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Ramp active</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>6</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1800</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a01</Index>
+					<Name>ENC Status compact</Name>
+					<Exclude>#x1a04</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Latch extern valid</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>13</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of extern latch</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1801</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Latch value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a04</Index>
+					<Name>ENC Status</Name>
+					<Exclude>#x1a01</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Latch extern valid</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>13</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of extern latch</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1804</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Latch value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a02</Index>
+					<Name>PLS Status</Name>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>PLS Enabled</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>9</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Dc>
+					<OpMode>
+						<Name>Synchron</Name>
+						<Desc>FreeRun/SM-Synchron</Desc>
+						<AssignActivate>#x0</AssignActivate>
+						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DC</Name>
+						<Desc>DC-Synchron</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DCIN</Name>
+						<Desc>DC-Synchron (input based)</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0 Input="1">0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030c32000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x9d93052" RevisionNo="#x0012007c">EL2521-0124</Type>
+				<HideType RevisionNo="#x0010007c"/>
+				<HideType RevisionNo="#x0011007c"/>
+				<Name LcId="1033">EL2521-0124 1Ch. Pulse Train 24V DC Output Capture/Compare</Name>
+				<Name LcId="1031">EL2521-0124 1K. Pulse Train 24V DC Ausgang Capture/Compare</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>280</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+					<VendorSpecific>
+						<TwinCAT>
+							<AlternativeSmMapping Default="1">
+								<Name>Standard 16 Bit (MDP 253/511/512)</Name>
+								<Sm No="2">
+									<Pdo>#x1600</Pdo>
+									<Pdo>#x1601</Pdo>
+									<Pdo>#x1602</Pdo>
+									<Pdo>#x1603</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a00</Pdo>
+									<Pdo>#x1a01</Pdo>
+									<Pdo>#x1a02</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+							<AlternativeSmMapping>
+								<Name>Standard 32 Bit (MDP 253/511/512)</Name>
+								<Sm No="2">
+									<Pdo>#x1600</Pdo>
+									<Pdo>#x1604</Pdo>
+									<Pdo>#x1605</Pdo>
+									<Pdo>#x1606</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a00</Pdo>
+									<Pdo>#x1a02</Pdo>
+									<Pdo>#x1a04</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+						</TwinCAT>
+					</VendorSpecific>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>253</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>511</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>512</AddInfo>
+					</ChannelInfo>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>2</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..1] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>16</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..5] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>6</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(11)</Name>
+								<BitSize>88</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0803EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1401</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude RxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>208</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1601</Name>
+								<BitSize>240</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1603</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1801</Name>
+								<BitSize>40</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..1] OF BYTE</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A00</Name>
+								<BitSize>272</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A01</Name>
+								<BitSize>432</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>SubIndex 009</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>SubIndex 010</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SubIndex 011</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>336</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>SubIndex 012</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>368</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>SubIndex 013</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>400</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C00ARR</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C00</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>64</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>64</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>344</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Minimum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Maximum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>288</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>320</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>336</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sel. Ack/End counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6010</Name>
+								<BitSize>96</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Latch extern valid</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter done</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Counter underflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Counter overflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Status of extern latch</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>28</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Latch value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6020</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>PLS Enabled</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Status of output</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Frequency select</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Disable ramp</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Go counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Frequency value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Target counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7010</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Enable latch extern on positive edge</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Enable latch extern on negative edge</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Set counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7020</Name>
+								<BitSize>96</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Enable PLS</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Output</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Switch on value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Switch off value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>192</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0802EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Output set active low</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0803EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>22</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>23</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>24</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
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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>DTF000</Name>
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+								<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>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
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+									<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>
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+									<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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+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
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+							<DataType>
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+								<SubItem>
+									<SubIdx>0</SubIdx>
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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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+						</DataTypes>
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+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>89130000</DefaultData>
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+								<Flags>
+									<Access>ro</Access>
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+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(11)</Type>
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+								<Info>
+									<DefaultData>454c323532312d30313234</DefaultData>
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+								<Flags>
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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>
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+									<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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+									<Access>ro</Access>
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+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
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+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
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+											<DefaultData>04</DefaultData>
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+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
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+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230d909</DefaultData>
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+									<SubItem>
+										<Name>Revision</Name>
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+											<DefaultData>7c001200</DefaultData>
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+									<SubItem>
+										<Name>Serial number</Name>
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+							<Object>
+								<Index>#x1401</Index>
+								<Name>ENC RxPDO-Par Control compact</Name>
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+							<Object>
+								<Index>#x1402</Index>
+								<Name>PLS RxPDO-Par Control compact</Name>
+								<Type>DT1401</Type>
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+									<SubItem>
+										<Name>SubIndex 000</Name>
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+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
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+							<Object>
+								<Index>#x1403</Index>
+								<Name>PTO RxPDO-Par Target compact</Name>
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+								<Index>#x1404</Index>
+								<Name>ENC RxPDO-Par Control</Name>
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+								<Index>#x1405</Index>
+								<Name>PLS RxPDO-Par Control</Name>
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+								<Index>#x1406</Index>
+								<Name>PTO RxPDO-Par Target</Name>
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+								<Name>PTO RxPDO-Map Control</Name>
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+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x6010</Index>
+								<Name>ENC Inputs</Name>
+								<Type>DT6010</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>12</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Latch extern valid</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Set counter done</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter underflow</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter overflow</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Status of extern latch</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Latch value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x6020</Index>
+								<Name>PLS Inputs</Name>
+								<Type>DT6020</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>10</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>PLS Enabled</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Status of output</Name>
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+											<DefaultData>00</DefaultData>
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+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
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+							</Object>
+							<Object>
+								<Index>#x7000</Index>
+								<Name>PTO Outputs</Name>
+								<Type>DT7000</Type>
+								<BitSize>80</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>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7010</Index>
+								<Name>ENC Outputs</Name>
+								<Type>DT7010</Type>
+								<BitSize>64</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>11</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable latch extern on positive edge</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Set counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable latch extern on negative edge</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Set counter value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
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+							<Object>
+								<Index>#x7020</Index>
+								<Name>PLS Outputs</Name>
+								<Type>DT7020</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>12</DefaultData>
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+									<SubItem>
+										<Name>Enable PLS</Name>
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+											<DefaultData>00</DefaultData>
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+											<DefaultData>00</DefaultData>
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+										<Name>Switch on value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
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+									<SubItem>
+										<Name>Switch off value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
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+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
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+							</Object>
+							<Object>
+								<Index>#x8000</Index>
+								<Name>PTO Settings</Name>
+								<Type>DT8000</Type>
+								<BitSize>192</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>18</DefaultData>
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+									<SubItem>
+										<Name>Emergency ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog timer deactive</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sign/amount representation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Travel distance control active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Output set active low</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operating mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Negative logic</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 1</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#xc350</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#x186a0</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#xffff</MaxValue>
+											<DefaultValue>#x64</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#x7fff</MaxValue>
+											<DefaultValue>#x32</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0300</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>112</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
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+										<Name>SubIndex 001</Name>
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+											<DefaultData>fd000000</DefaultData>
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+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>ff010000</DefaultData>
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+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>00020000</DefaultData>
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+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="54" MaxSize="128" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="54" MaxSize="128" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="14" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="10" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>PTO Control</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Frequency select</Name>
+						<DataType>BOOL</DataType>
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+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Disable ramp</Name>
+						<DataType>BOOL</DataType>
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+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Go counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__Gap</Name>
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+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
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+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Frequency value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1603</Index>
+					<Name>PTO Target compact</Name>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1606</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UINT</DataType>
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+				<RxPdo Fixed="1">
+					<Index>#x1606</Index>
+					<Name>PTO Target</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1603</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1601</Index>
+					<Name>ENC Control compact</Name>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1606</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Control__Gap</Name>
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+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable latch extern on positive edge</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable latch extern on negative edge</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1604</Index>
+					<Name>ENC Control</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1603</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable latch extern on positive edge</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable latch extern on negative edge</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+						<Name>Control__Gap</Name>
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+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1602</Index>
+					<Name>PLS Control compact</Name>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1606</Exclude>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable PLS</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Control__Gap</Name>
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+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Output</Name>
+						<DataType>BOOL</DataType>
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+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+						<Name>Control__Gap</Name>
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+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
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+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Switch on value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Switch off value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1605</Index>
+					<Name>PLS Control</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1603</Exclude>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable PLS</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Switch on value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Switch off value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>PTO Status</Name>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sel. Ack/End counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Ramp active</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>6</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1800</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a01</Index>
+					<Name>ENC Status compact</Name>
+					<Exclude>#x1a04</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Latch extern valid</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>13</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Status of extern latch</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1801</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Latch value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a04</Index>
+					<Name>ENC Status</Name>
+					<Exclude>#x1a01</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Latch extern valid</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>13</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Status of extern latch</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1804</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Latch value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a02</Index>
+					<Name>PLS Status</Name>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__PLS Enabled</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Status of output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>9</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Dc>
+					<OpMode>
+						<Name>Synchron</Name>
+						<Desc>FreeRun/SM-Synchron</Desc>
+						<AssignActivate>#x0</AssignActivate>
+						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DC</Name>
+						<Desc>DC-Synchron</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0 Input="0">0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DCIN</Name>
+						<Desc>DC-Synchron (input based)</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0 Input="1">0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030c32000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09D93052" RevisionNo="#x000003E9">EL2521-1001</Type>
+				<Name LcId="1033"><![CDATA[EL2521-1001 1Ch. Pulse Train Output]]></Name>
+				<Name LcId="1031"><![CDATA[EL2521-1001 1K. Pulse Train Ausgang]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>280</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Sm DefaultSize="54" StartAddress="6144" ControlByte="38" Enable="1">MBoxOut</Sm>
+				<Sm DefaultSize="54" StartAddress="6272" ControlByte="34" Enable="1">MBoxIn</Sm>
+				<Sm StartAddress="4096" ControlByte="36" Enable="1">Outputs</Sm>
+				<Sm StartAddress="4352" ControlByte="32" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>Outputs</Name>
+					<Exclude>#x1601</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>8</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>USINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1601</Index>
+					<Name>Outputs</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>8</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>USINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>Inputs</Name>
+					<Exclude>#x1a01</Exclude>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>8</BitLen>
+						<Name>Status</Name>
+						<DataType>USINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data In</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
+					<Name>Inputs</Name>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>8</BitLen>
+						<Name>Status</Name>
+						<DataType>USINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data In</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox>
+					<CoE SdoInfo="1" PdoAssign="1" PdoConfig="0"/>
+					<FoE/>
+				</Mailbox>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>050003000000</ConfigData>
+					<BootStrap>0018f400f418f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09d93052" RevisionNo="#x000103e9">EL2521-1001</Type>
+				<HideType RevisionNo="#x000003E9" ProductRevision="EL2521-1001-0000	"/>
+				<Name LcId="1033"><![CDATA[EL2521-1001 1Ch. Pulse Train Output]]></Name>
+				<Name LcId="1031"><![CDATA[EL2521-1001 1K. Pulse Train Ausgang]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>280</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ProfileNo>5001</ProfileNo>
+					<AddInfo>252</AddInfo>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(11)</Name>
+								<BitSize>88</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(16)</Name>
+								<BitSize>128</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0029</Name>
+								<BitSize>16</BitSize>
+								<EnumInfo>
+									<Text>Free Run</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Synchron</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>SYNC0 Event</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0800</Name>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801</Name>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor Id</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product Code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision Number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial Number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>RxPDO Mapping Element 1: Ctrl</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>RxPDO Mapping Element 2: Data Out</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A00</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>TxPDO Mapping Element 1: Status</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>TxPDO Mapping Element 2: Data In</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C00ARR</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C00</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<MinValue>0</MinValue>
+									<MaxValue>1</MaxValue>
+									<DefaultValue>1</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Assigned RxPDO</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<MinValue>#x1600</MinValue>
+									<MaxValue>#x1600</MaxValue>
+									<DefaultValue>#x1600</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<MinValue>0</MinValue>
+									<MaxValue>1</MaxValue>
+									<DefaultValue>1</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Assigned TxPDO</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<MinValue>#x1600</MinValue>
+									<MaxValue>#x1600</MaxValue>
+									<DefaultValue>#x1600</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Status</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data In</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Ctrl</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data Out</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Rising edge clears/sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0800</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Rising edge sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0801</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>15</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8001</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<MinValue>#x00</MinValue>
+									<MaxValue>#xffff</MaxValue>
+									<DefaultValue>0</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<MinValue>#x64</MinValue>
+									<MaxValue>#x0007a120</MaxValue>
+									<DefaultValue>50000</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<MinValue>#x64</MinValue>
+									<MaxValue>#x0007a120</MaxValue>
+									<DefaultValue>100000</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<MinValue>#x00</MinValue>
+									<MaxValue>#xffff</MaxValue>
+									<DefaultValue>1000</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<MinValue>#x00</MinValue>
+									<MaxValue>#xffff</MaxValue>
+									<DefaultValue>1000</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<MinValue>#x01</MinValue>
+									<MaxValue>#xffff</MaxValue>
+									<DefaultValue>100</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<MinValue>#x00</MinValue>
+									<MaxValue>#x7fff</MaxValue>
+									<DefaultValue>50</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<MinValue>#x00</MinValue>
+									<MaxValue>#xffff</MaxValue>
+									<DefaultValue>1000</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8800</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Target counter state</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<MinValue>#x00</MinValue>
+									<MaxValue>#xffffffff</MaxValue>
+									<DefaultValue>0</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>48</BitOffs>
+									<MinValue>#x00</MinValue>
+									<MaxValue>#x7fff</MaxValue>
+									<DefaultValue>0</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTA000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Counter extension</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+							</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>454c323532312d31303031</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>0400020000005230d909e903010000000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1600</Index>
+								<Name>Outputs</Name>
+								<Type>DT1600</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<DefaultData>02001001007010020070</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1a00</Index>
+								<Name>Inputs</Name>
+								<Type>DT1A00</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<DefaultData>02001001006010020060</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c00</Index>
+								<Name>Sync Manager Type</Name>
+								<Type>DT1C00</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>040001020304</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c01</Index>
+								<Name>Process Data Format</Name>
+								<Type>UINT</Type>
+								<BitSize>16</BitSize>
+								<Info>
+									<DefaultData>0001</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c12</Index>
+								<Name>SM 002 RxPDO Assign</Name>
+								<Type>DT1C12</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>01000016</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c13</Index>
+								<Name>SM 003 TxPDO Assign</Name>
+								<Type>DT1C13</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>01000016</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x6000</Index>
+								<Name>Inputs</Name>
+								<Type>DT6000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>020000000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7000</Index>
+								<Name>Outputs</Name>
+								<Type>DT7000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>020000000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8000</Index>
+								<Name>Feature bits</Name>
+								<Type>DT8000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>0f003000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8001</Index>
+								<Name>User settings</Name>
+								<Type>DT8001</Type>
+								<BitSize>176</BitSize>
+								<Info>
+									<DefaultData>0800000050c30000a0860100e803e80364003200e803</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8800</Index>
+								<Name>Volatile Settings</Name>
+								<Type>DT8800</Type>
+								<BitSize>64</BitSize>
+								<Info>
+									<DefaultData>0200000000000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xa000</Index>
+								<Name>Diagnostic Parameter</Name>
+								<Type>DTA000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>01000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Profile Settings</Name>
+								<Type>DTF000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>02001001</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code Word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Sm DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>Outputs</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>Inputs</Name>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Status</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data In</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox>
+					<CoE SdoInfo="1" PdoAssign="0" PdoConfig="0"/>
+					<FoE/>
+				</Mailbox>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>050003080000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09d93052" RevisionNo="#x03F803E9">EL2521-1001</Type>
+				<HideType RevisionNo="#x000003E9" ProductRevision="EL2521-1001-0000	"/>
+				<HideType RevisionNo="#x000103E9" ProductRevision="EL2521-1001-0001	"/>
+				<Name LcId="1033">EL2521-1001 1Ch. Pulse Train Output</Name>
+				<Name LcId="1031">EL2521-1001 1K. Pulse Train Ausgang</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>280</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>252</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>253</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>511</AddInfo>
+					</ChannelInfo>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>0</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..5] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>6</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..9] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>80</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>10</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(6)</Name>
+								<BitSize>48</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0800EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0803EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1400</Name>
+								<BitSize>96</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude RxPDOs</Name>
+									<Type>ARRAY [0..9] OF BYTE</Type>
+									<BitSize>80</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1601</Name>
+								<BitSize>208</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1602</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1604</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1800</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1801</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>TxPDO-Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A01</Name>
+								<BitSize>336</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>SubIndex 009</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>SubIndex 010</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C00ARR</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C00</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>280</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>192</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>256</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Status</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data In</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6010</Name>
+								<BitSize>24</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sel. Ack/End counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Status of input target</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Status of input zero</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter done</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Counter underflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Counter overflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Ctrl</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data Out</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7010</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Frequency select</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Disable ramp</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Go counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Frequency value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Target counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>40</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Set counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Rising edge clears/sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0800EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Rising edge sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0801EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>15</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>28</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8001</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8010</Name>
+								<BitSize>192</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0802EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0803EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>22</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>23</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>24</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8800</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Target counter state</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTA000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Counter extension</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>96</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>112</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>96</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>89130000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(6)</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>454c32353231</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230d909</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>e903f803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Serial number</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x10f0</Index>
+								<Name>Backup parameter handling</Name>
+								<Type>DT10F0</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Checksum</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1400</Index>
+								<Name>RxPDO-Par</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>01160416071602160516</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1401</Index>
+								<Name>PTO RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160000000000000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1402</Index>
+								<Name>ENC RxPDO-Par Control compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160516071600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1404</Index>
+								<Name>PTO RxPDO-Par Target compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160516071600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1405</Index>
+								<Name>ENC RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160216041600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1407</Index>
+								<Name>PTO RxPDO-Par Target</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160216041600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1600</Index>
+								<Name>RxPDO-Map</Name>
+								<Type>DT1600</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10010070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>10020070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1601</Index>
+								<Name>PTO RxPDO-Map Control</Name>
+								<Type>DT1601</Type>
+								<BitSize>208</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>01011070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>01021070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>01031070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 004</Name>
+										<Info>
+											<DefaultData>05000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 005</Name>
+										<Info>
+											<DefaultData>08000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 006</Name>
+										<Info>
+											<DefaultData>10111070</DefaultData>
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+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1602</Index>
+								<Name>ENC RxPDO-Map Control compact</Name>
+								<Type>DT1602</Type>
+								<BitSize>176</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>05</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
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+											<DefaultData>01032070</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>05000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 004</Name>
+										<Info>
+											<DefaultData>08000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 005</Name>
+										<Info>
+											<DefaultData>10112070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1604</Index>
+								<Name>PTO RxPDO-Map Target compact</Name>
+								<Type>DT1604</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
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+									<SubItem>
+										<Name>SubIndex 001</Name>
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+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1605</Index>
+								<Name>ENC RxPDO-Map Control</Name>
+								<Type>DT1602</Type>
+								<BitSize>176</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>05</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
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+											<DefaultData>02000000</DefaultData>
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+									</SubItem>
+									<SubItem>
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+									</SubItem>
+									<SubItem>
+										<Name>Data In</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x6010</Index>
+								<Name>PTO Inputs</Name>
+								<Type>DT6010</Type>
+								<BitSize>24</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>10</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sel. Ack/End counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Status of input target</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Status of input zero</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Error</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x6020</Index>
+								<Name>ENC Inputs</Name>
+								<Type>DT6020</Type>
+								<BitSize>56</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>16</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Set counter done</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter underflow</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter overflow</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7000</Index>
+								<Name>Outputs</Name>
+								<Type>DT7000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ctrl</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Data Out</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7010</Index>
+								<Name>PTO Outputs</Name>
+								<Type>DT7010</Type>
+								<BitSize>72</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>12</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency select</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Disable ramp</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Go counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Target counter value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7020</Index>
+								<Name>ENC Outputs</Name>
+								<Type>DT7020</Type>
+								<BitSize>56</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>11</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Set counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Set counter value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8000</Index>
+								<Name>Feature bits</Name>
+								<Type>DT8000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>0f</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Emergency ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog timer deactive</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sign/amount representation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Rising edge clears/sets counter</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Travel distance control active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Rising edge sets counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operating mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Negative logic</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8001</Index>
+								<Name>User settings</Name>
+								<Type>DT8001</Type>
+								<BitSize>176</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>08</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 1</Name>
+										<Info>
+											<MinValue>100</MinValue>
+											<MaxValue>500000</MaxValue>
+											<DefaultValue>50000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>100</MinValue>
+											<MaxValue>500000</MaxValue>
+											<DefaultValue>100000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>1</MinValue>
+											<MaxValue>65535</MaxValue>
+											<DefaultValue>100</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>0</MinValue>
+											<MaxValue>32767</MaxValue>
+											<DefaultValue>50</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8010</Index>
+								<Name>PTO Settings</Name>
+								<Type>DT8010</Type>
+								<BitSize>192</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>18</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Emergency ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog timer deactive</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sign/amount representation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Travel distance control active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operating mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Negative logic</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 1</Name>
+										<Info>
+											<MinValue>100</MinValue>
+											<MaxValue>500000</MaxValue>
+											<DefaultValue>50000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>100</MinValue>
+											<MaxValue>500000</MaxValue>
+											<DefaultValue>100000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>1</MinValue>
+											<MaxValue>65535</MaxValue>
+											<DefaultValue>100</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>0</MinValue>
+											<MaxValue>32767</MaxValue>
+											<DefaultValue>50</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8800</Index>
+								<Name>Volatile settings</Name>
+								<Type>DT8800</Type>
+								<BitSize>64</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Target counter state</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum frequency</Name>
+										<Info>
+											<MinValue>0</MinValue>
+											<MaxValue>32767</MaxValue>
+											<DefaultValue>0</DefaultValue>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xa000</Index>
+								<Name>Diagnostic parameter</Name>
+								<Type>DTA000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter extension</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0300</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>112</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fc000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fd000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>ff010000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Sm MinSize="64" MaxSize="128" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="64" MaxSize="128" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>Outputs</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1601</Index>
+					<Name>PTO Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Frequency select</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Disable ramp</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Go counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Frequency value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1604</Index>
+					<Name>PTO Target compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1607</Index>
+					<Name>PTO Target</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>ENC Control compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1605</Index>
+					<Name>ENC Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>Inputs</Name>
+					<Exclude>#x1a01</Exclude>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a05</Exclude>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Status</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data In</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
+					<Name>PTO Status</Name>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sel. Ack/End counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Ramp active</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of input target</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of input zero</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>6</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1801</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a02</Index>
+					<Name>ENC Status compact</Name>
+					<Exclude>#x1a05</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a05</Index>
+					<Name>ENC Status</Name>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1805</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Dc>
+					<OpMode>
+						<Name>Synchron</Name>
+						<Desc>FreeRun/SM-Synchron</Desc>
+						<AssignActivate>#x0</AssignActivate>
+						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DC</Name>
+						<Desc>DC-Synchron</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030c32000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09d93052" RevisionNo="#x03F903E9">EL2521-1001</Type>
+				<HideType RevisionNo="#x000003E9"/>
+				<HideType RevisionNo="#x000103E9"/>
+				<HideType RevisionNo="#x03F803E9"/>
+				<Name LcId="1033">EL2521-1001 1Ch. Pulse Train Output</Name>
+				<Name LcId="1031">EL2521-1001 1K. Pulse Train Ausgang</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>280</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>252</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>253</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>511</AddInfo>
+					</ChannelInfo>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>0</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..5] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>6</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..9] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>80</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>10</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(6)</Name>
+								<BitSize>48</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0800EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0803EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1400</Name>
+								<BitSize>96</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude RxPDOs</Name>
+									<Type>ARRAY [0..9] OF BYTE</Type>
+									<BitSize>80</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1601</Name>
+								<BitSize>208</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1602</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1604</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1800</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1801</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>TxPDO-Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A01</Name>
+								<BitSize>336</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>SubIndex 009</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>SubIndex 010</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C00ARR</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C00</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>280</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>192</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>256</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Status</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data In</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6010</Name>
+								<BitSize>24</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sel. Ack/End counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Status of input target</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Status of input zero</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter done</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Counter underflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Counter overflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Ctrl</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data Out</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7010</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Frequency select</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Disable ramp</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Go counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Frequency value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Target counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>40</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Set counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Rising edge clears/sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0800EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Rising edge sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0801EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>15</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>28</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8001</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8010</Name>
+								<BitSize>192</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0802EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0803EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>22</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>23</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>24</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8800</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Target counter state</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTA000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Counter extension</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>96</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>112</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>96</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>89130000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(6)</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>454c32353231</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230d909</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>e903f803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Serial number</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x10f0</Index>
+								<Name>Backup parameter handling</Name>
+								<Type>DT10F0</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Checksum</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1400</Index>
+								<Name>RxPDO-Par</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>01160416071602160516</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1401</Index>
+								<Name>PTO RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160000000000000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1402</Index>
+								<Name>ENC RxPDO-Par Control compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160516071600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1404</Index>
+								<Name>PTO RxPDO-Par Target compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160516071600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1405</Index>
+								<Name>ENC RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160216041600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1407</Index>
+								<Name>PTO RxPDO-Par Target</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160216041600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1600</Index>
+								<Name>RxPDO-Map</Name>
+								<Type>DT1600</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10010070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>10020070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1601</Index>
+								<Name>PTO RxPDO-Map Control</Name>
+								<Type>DT1601</Type>
+								<BitSize>208</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
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+									<Category>o</Category>
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+							</Object>
+							<Object>
+								<Index>#x1c13</Index>
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+								<Type>DT1C13</Type>
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+								<Info>
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+							<Object>
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+								<Info>
+									<SubItem>
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+										<Info>
+											<DefaultData>20</DefaultData>
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+									</SubItem>
+									<SubItem>
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+										<Info>
+											<DefaultData>0100</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Cycle time</Name>
+										<Info>
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+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Shift time</Name>
+										<Info>
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+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sync modes supported</Name>
+										<Info>
+											<DefaultData>07c0</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Minimum cycle time</Name>
+										<Info>
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+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Calc and copy time</Name>
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+										</Info>
+									</SubItem>
+									<SubItem>
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+										<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="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="#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>
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+									<Name>SubIndex 002</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>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
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+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>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>
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+								</SubItem>
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+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
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+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
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+							<DataType>
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+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
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+										<Access>rw</Access>
+										<Category>o</Category>
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+								<SubItem>
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+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
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+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
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+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
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+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
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+								<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>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>
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+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8010</Index>
+								<Name>PTO Settings</Name>
+								<Type>DT8010</Type>
+								<BitSize>192</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>18</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Emergency ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog timer deactive</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sign/amount representation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Travel distance control active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operating mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Negative logic</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 1</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#xc350</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#x186a0</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#xffff</MaxValue>
+											<DefaultValue>#x64</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#x7fff</MaxValue>
+											<DefaultValue>#x32</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8800</Index>
+								<Name>Volatile settings</Name>
+								<Type>DT8800</Type>
+								<BitSize>64</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Target counter state</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum frequency</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#x7fff</MaxValue>
+											<DefaultValue>#x0</DefaultValue>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xa000</Index>
+								<Name>Diagnostic parameter</Name>
+								<Type>DTA000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter extension</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0300</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>112</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fc000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fd000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>ff010000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="54" MaxSize="128" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="54" MaxSize="128" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>Outputs</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1601</Index>
+					<Name>PTO Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Frequency select</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Disable ramp</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Go counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Frequency value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1604</Index>
+					<Name>PTO Target compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1607</Index>
+					<Name>PTO Target</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>ENC Control compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1605</Index>
+					<Name>ENC Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>Inputs</Name>
+					<Exclude>#x1a01</Exclude>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a05</Exclude>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Status</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data In</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
+					<Name>PTO Status</Name>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sel. Ack/End counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Ramp active</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Status of input target</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Status of input zero</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>6</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1801</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a02</Index>
+					<Name>ENC Status compact</Name>
+					<Exclude>#x1a05</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a05</Index>
+					<Name>ENC Status</Name>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1805</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Dc>
+					<OpMode>
+						<Name>Synchron</Name>
+						<Desc>FreeRun/SM-Synchron</Desc>
+						<AssignActivate>#x0</AssignActivate>
+						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DC</Name>
+						<Desc>DC-Synchron</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0 Input="0">0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030c32000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x9e73052" RevisionNo="#x00100000">EL2535</Type>
+				<Name LcId="1033">EL2535 2Ch. Pulse Width Current Output (24V, 1 A)</Name>
+				<Name LcId="1031">EL2535 2K. Pulsweiten Strom Ausgang (24V, 1 A)</Name>
+				<URL LcId="1033">http://www.beckhoff.com/EL2535</URL>
+				<URL LcId="1031">http://www.beckhoff.de/EL2535</URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>110</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+					<VendorSpecific>
+						<TwinCAT>
+							<AlternativeSmMapping Default="1">
+								<Name>Standard</Name>
+								<Sm No="2">
+									<Pdo>#x1600</Pdo>
+									<Pdo>#x1601</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a00</Pdo>
+									<Pdo>#x1a02</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+							<AlternativeSmMapping>
+								<Name>Extended info data</Name>
+								<Sm No="2">
+									<Pdo>#x1600</Pdo>
+									<Pdo>#x1601</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a00</Pdo>
+									<Pdo>#x1a01</Pdo>
+									<Pdo>#x1a02</Pdo>
+									<Pdo>#x1a03</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+						</TwinCAT>
+					</VendorSpecific>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ProfileNo>5001</ProfileNo>
+					<AddInfo>250</AddInfo>
+					<ChannelCount>2</ChannelCount>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>2</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>INT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..1] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>16</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..3] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(6)</Name>
+								<BitSize>48</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN08</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>8</BitSize>
+								<EnumInfo>
+									<Text>Actual current Ch.1</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Set current Ch.1</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Duty cycle Ch.1</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Supply voltage Ch.1</Text>
+									<Enum>3</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Actual current Ch.2</Text>
+									<Enum>32</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Set current Ch.2</Text>
+									<Enum>33</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Duty cycle Ch.2</Text>
+									<Enum>34</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Supply voltage Ch.2</Text>
+									<Enum>35</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0803EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Default watchdog value</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Watchdog ramp aktiv</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Last output value aktiv</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0804EN08</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>8</BitSize>
+								<EnumInfo>
+									<Text>Actual current Ch.1</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Set current Ch.1</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Duty cycle Ch.1</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Supply voltage Ch.1</Text>
+									<Enum>3</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Actual current Ch.2</Text>
+									<Enum>32</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Set current Ch.2</Text>
+									<Enum>33</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Duty cycle Ch.2</Text>
+									<Enum>34</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Supply voltage Ch.2</Text>
+									<Enum>35</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>208</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A00</Name>
+								<BitSize>272</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A01</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C00ARR</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C00</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>64</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>64</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>344</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Minimum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Maximum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>288</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>320</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>336</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Digital input 1</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Ready to enable</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Warning</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Info data 1</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Info data 2</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Enable dithering</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Enable</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Reset</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>PWM output</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>232</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Enable dithering</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Invert polarity</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Watchdog</Name>
+									<Type>DT0803EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Offset</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Gain</Name>
+									<Type>DINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Default output</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Default output ramp</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>Max current [%]</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Kp factor</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Ki factor</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Kd factor</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>30</SubIdx>
+									<Name>Dithering frequency [Hz]</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>192</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>31</SubIdx>
+									<Name>Dithering amplitude [%]</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>33</SubIdx>
+									<Name>Select info data 1</Name>
+									<Type>DT0802EN08</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>216</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>34</SubIdx>
+									<Name>Select info data 2</Name>
+									<Type>DT0804EN08</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT800F</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Offset</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Gain</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTA000</Name>
+								<BitSize>24</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Overtemperature</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Undervoltage</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Overvoltage</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Short circuit</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
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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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+								<SubItem>
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+									<Name>Maximum number of modules</Name>
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+									<BitOffs>32</BitOffs>
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+								<SubItem>
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+									<Name>Voltage [mV]</Name>
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+									<Name>Temperature [°C]</Name>
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+								<SubItem>
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+									<Name>Request</Name>
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+										<Category>o</Category>
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+									<Name>Response</Name>
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+										<Access>ro</Access>
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+								<Name>Device type</Name>
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+								<Name>Hardware version</Name>
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+								<Name>Software version</Name>
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+									<SubItem>
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+									<SubItem>
+										<Name>Product code</Name>
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+									<SubItem>
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+									<SubItem>
+										<Name>Serial number</Name>
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+											<DefaultData>84030000</DefaultData>
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+										<Name>Short circuit</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xa010</Index>
+								<Name>PWM Diag data Ch.2</Name>
+								<Type>DTA000</Type>
+								<BitSize>24</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>07</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Overtemperature</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Undervoltage</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Overvoltage</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Short circuit</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0200</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fa000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fa000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf900</Index>
+								<Name>PWM Info data</Name>
+								<Type>DTF900</Type>
+								<BitSize>40</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Voltage [mV]</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Temperature [°C]</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xfb00</Index>
+								<Name>PWM Command</Name>
+								<Type>DTFB00</Type>
+								<BitSize>72</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="64" MaxSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="64" MaxSize="128" DefaultSize="128" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="8" StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1180" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Mandatory="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>PWM Control Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable dithering</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Reset</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>9</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>INT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="2">
+					<Index>#x1601</Index>
+					<Name>PWM Control Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable dithering</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Reset</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>9</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>INT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>PWM Status Channel 1</Name>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Digital input 1</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Ready to enable</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Warning</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>7</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1800</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
+					<Name>PWM Synchron info data Channel 1</Name>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Info data 1</Name>
+						<DataType>INT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Info data 2</Name>
+						<DataType>INT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a02</Index>
+					<Name>PWM Status Channel 2</Name>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Digital input 1</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Ready to enable</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Warning</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>7</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a03</Index>
+					<Name>PWM Synchron info data Channel 2</Name>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Info data 1</Name>
+						<DataType>INT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Info data 2</Name>
+						<DataType>INT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>050003000a000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x9e73052" RevisionNo="#x00100002">EL2535-0002</Type>
+				<Name LcId="1033">EL2535-0002 2Ch. Pulse Width Current Output (24V, 2 A)</Name>
+				<Name LcId="1031">EL2535-0002 2K. Pulsweiten Strom Ausgang (24V, 2 A)</Name>
+				<URL LcId="1033">http://www.beckhoff.com/EL2535</URL>
+				<URL LcId="1031">http://www.beckhoff.de/EL2535</URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>110</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+					<VendorSpecific>
+						<TwinCAT>
+							<AlternativeSmMapping Default="1">
+								<Name>Standard</Name>
+								<Sm No="2">
+									<Pdo>#x1600</Pdo>
+									<Pdo>#x1601</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a00</Pdo>
+									<Pdo>#x1a02</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+							<AlternativeSmMapping>
+								<Name>Extended info data</Name>
+								<Sm No="2">
+									<Pdo>#x1600</Pdo>
+									<Pdo>#x1601</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a00</Pdo>
+									<Pdo>#x1a01</Pdo>
+									<Pdo>#x1a02</Pdo>
+									<Pdo>#x1a03</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+						</TwinCAT>
+					</VendorSpecific>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ProfileNo>5001</ProfileNo>
+					<AddInfo>250</AddInfo>
+					<ChannelCount>2</ChannelCount>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>2</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>INT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..1] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>16</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..3] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(6)</Name>
+								<BitSize>48</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN08</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>8</BitSize>
+								<EnumInfo>
+									<Text>Actual current Ch.1</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Set current Ch.1</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Duty cycle Ch.1</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Supply voltage Ch.1</Text>
+									<Enum>3</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Actual current Ch.2</Text>
+									<Enum>32</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Set current Ch.2</Text>
+									<Enum>33</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Duty cycle Ch.2</Text>
+									<Enum>34</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Supply voltage Ch.2</Text>
+									<Enum>35</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0803EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Default watchdog value</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Watchdog ramp aktiv</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Last output value aktiv</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0804EN08</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>8</BitSize>
+								<EnumInfo>
+									<Text>Actual current Ch.1</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Set current Ch.1</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Duty cycle Ch.1</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Supply voltage Ch.1</Text>
+									<Enum>3</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Actual current Ch.2</Text>
+									<Enum>32</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Set current Ch.2</Text>
+									<Enum>33</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Duty cycle Ch.2</Text>
+									<Enum>34</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Supply voltage Ch.2</Text>
+									<Enum>35</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>208</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A00</Name>
+								<BitSize>272</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A01</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C00ARR</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C00</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>64</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>64</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>344</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Minimum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Maximum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>288</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>320</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>336</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Digital input 1</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Ready to enable</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Warning</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Info data 1</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Info data 2</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Enable dithering</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Enable</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Reset</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>PWM output</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>232</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Enable dithering</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Invert polarity</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Watchdog</Name>
+									<Type>DT0803EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Offset</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Gain</Name>
+									<Type>DINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Default output</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Default output ramp</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>Max current [%]</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Kp factor</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Ki factor</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Kd factor</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>30</SubIdx>
+									<Name>Dithering frequency [Hz]</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>192</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>31</SubIdx>
+									<Name>Dithering amplitude [%]</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>33</SubIdx>
+									<Name>Select info data 1</Name>
+									<Type>DT0802EN08</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>216</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>34</SubIdx>
+									<Name>Select info data 2</Name>
+									<Type>DT0804EN08</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT800F</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Offset</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Gain</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTA000</Name>
+								<BitSize>24</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Overtemperature</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Undervoltage</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Overvoltage</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Short circuit</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>64</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>64</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF900</Name>
+								<BitSize>40</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Voltage [mV]</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Temperature [°C]</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTFB00</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Request</Name>
+									<Type>ARRAY [0..1] OF BYTE</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Status</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Response</Name>
+									<Type>ARRAY [0..3] OF BYTE</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>40</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>8913fa00</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(6)</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>454c32353335</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230e709</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>02001000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Serial number</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x10f0</Index>
+								<Name>Backup parameter handling</Name>
+								<Type>DT10F0</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Checksum</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1600</Index>
+								<Name>PWM RxPDO-Map Control Ch.1</Name>
+								<Type>DT1600</Type>
+								<BitSize>208</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>01010070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
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+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>PWM output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7010</Index>
+								<Name>PWM Outputs Ch.2</Name>
+								<Type>DT7000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>11</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable dithering</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Reset</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>PWM output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8000</Index>
+								<Name>PWM Settings Ch.1</Name>
+								<Type>DT8000</Type>
+								<BitSize>232</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>22</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable dithering</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Invert polarity</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Offset</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Gain</Name>
+										<Info>
+											<MinValue>#xfffe0000</MinValue>
+											<MaxValue>#x1ffff</MaxValue>
+											<DefaultValue>#x10000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output ramp</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#xffff</MaxValue>
+											<DefaultValue>#xffff</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Max current [%]</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#x64</MaxValue>
+											<DefaultValue>#x64</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Kp factor</Name>
+										<Info>
+											<DefaultData>fa00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ki factor</Name>
+										<Info>
+											<DefaultData>0400</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Kd factor</Name>
+										<Info>
+											<DefaultData>3200</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Dithering frequency [Hz]</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#x1f4</MaxValue>
+											<DefaultValue>#x64</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Dithering amplitude [%]</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#x1e</MaxValue>
+											<DefaultValue>#xa</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Select info data 1</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Select info data 2</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x800f</Index>
+								<Name>PWM Vendor data Ch.1</Name>
+								<Type>DT800F</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Offset</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Gain</Name>
+										<Info>
+											<DefaultData>0040</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8010</Index>
+								<Name>PWM Settings Ch.2</Name>
+								<Type>DT8000</Type>
+								<BitSize>232</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>22</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable dithering</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Invert polarity</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Offset</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Gain</Name>
+										<Info>
+											<MinValue>#xfffe0000</MinValue>
+											<MaxValue>#x1ffff</MaxValue>
+											<DefaultValue>#x10000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output ramp</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#xffff</MaxValue>
+											<DefaultValue>#xffff</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Max current [%]</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#x64</MaxValue>
+											<DefaultValue>#x64</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Kp factor</Name>
+										<Info>
+											<DefaultData>fa00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ki factor</Name>
+										<Info>
+											<DefaultData>0400</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Kd factor</Name>
+										<Info>
+											<DefaultData>3200</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Dithering frequency [Hz]</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#x1f4</MaxValue>
+											<DefaultValue>#x64</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Dithering amplitude [%]</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#x1e</MaxValue>
+											<DefaultValue>#xa</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Select info data 1</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Select info data 2</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x801f</Index>
+								<Name>PWM Vendor data Ch.2</Name>
+								<Type>DT800F</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Offset</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Gain</Name>
+										<Info>
+											<DefaultData>0040</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xa000</Index>
+								<Name>PWM Diag data Ch.1</Name>
+								<Type>DTA000</Type>
+								<BitSize>24</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>07</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Overtemperature</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Undervoltage</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Overvoltage</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Short circuit</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xa010</Index>
+								<Name>PWM Diag data Ch.2</Name>
+								<Type>DTA000</Type>
+								<BitSize>24</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>07</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Overtemperature</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Undervoltage</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Overvoltage</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Short circuit</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0200</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fa000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fa000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf900</Index>
+								<Name>PWM Info data</Name>
+								<Type>DTF900</Type>
+								<BitSize>40</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Voltage [mV]</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Temperature [°C]</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xfb00</Index>
+								<Name>PWM Command</Name>
+								<Type>DTFB00</Type>
+								<BitSize>72</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="64" MaxSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="64" MaxSize="128" DefaultSize="128" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="8" StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1180" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Mandatory="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>PWM Control Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable dithering</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Reset</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>9</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>INT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="2">
+					<Index>#x1601</Index>
+					<Name>PWM Control Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable dithering</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Reset</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>9</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>INT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>PWM Status Channel 1</Name>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Digital input 1</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Ready to enable</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Warning</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>7</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1800</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
+					<Name>PWM Synchron info data Channel 1</Name>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Info data 1</Name>
+						<DataType>INT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Info data 2</Name>
+						<DataType>INT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a02</Index>
+					<Name>PWM Status Channel 2</Name>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Digital input 1</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Ready to enable</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Warning</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>7</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a03</Index>
+					<Name>PWM Synchron info data Channel 2</Name>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Info data 1</Name>
+						<DataType>INT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Info data 2</Name>
+						<DataType>INT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>050003000a000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x9e73052" RevisionNo="#x00100032">EL2535-0050</Type>
+				<Name LcId="1033">EL2535-0050 2Ch. Pulse Width Current Output (24V, 50 mA)</Name>
+				<Name LcId="1031">EL2535-0050 2K. Pulsweiten Strom Ausgang (24V, 50 mA)</Name>
+				<URL LcId="1033">http://www.beckhoff.com/EL2535</URL>
+				<URL LcId="1031">http://www.beckhoff.de/EL2535</URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>110</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+					<VendorSpecific>
+						<TwinCAT>
+							<AlternativeSmMapping Default="1">
+								<Name>Standard</Name>
+								<Sm No="2">
+									<Pdo>#x1600</Pdo>
+									<Pdo>#x1601</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a00</Pdo>
+									<Pdo>#x1a02</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+							<AlternativeSmMapping>
+								<Name>Extended info data</Name>
+								<Sm No="2">
+									<Pdo>#x1600</Pdo>
+									<Pdo>#x1601</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a00</Pdo>
+									<Pdo>#x1a01</Pdo>
+									<Pdo>#x1a02</Pdo>
+									<Pdo>#x1a03</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+						</TwinCAT>
+					</VendorSpecific>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ProfileNo>5001</ProfileNo>
+					<AddInfo>250</AddInfo>
+					<ChannelCount>2</ChannelCount>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>2</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>INT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..1] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>16</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..3] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(6)</Name>
+								<BitSize>48</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN08</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>8</BitSize>
+								<EnumInfo>
+									<Text>Actual current Ch.1</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Set current Ch.1</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Duty cycle Ch.1</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Supply voltage Ch.1</Text>
+									<Enum>3</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Actual current Ch.2</Text>
+									<Enum>32</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Set current Ch.2</Text>
+									<Enum>33</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Duty cycle Ch.2</Text>
+									<Enum>34</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Supply voltage Ch.2</Text>
+									<Enum>35</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0803EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Default watchdog value</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Watchdog ramp aktiv</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Last output value aktiv</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0804EN08</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>8</BitSize>
+								<EnumInfo>
+									<Text>Actual current Ch.1</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Set current Ch.1</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Duty cycle Ch.1</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Supply voltage Ch.1</Text>
+									<Enum>3</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Actual current Ch.2</Text>
+									<Enum>32</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Set current Ch.2</Text>
+									<Enum>33</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Duty cycle Ch.2</Text>
+									<Enum>34</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Supply voltage Ch.2</Text>
+									<Enum>35</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>208</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A00</Name>
+								<BitSize>272</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A01</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C00ARR</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C00</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>64</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>64</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>344</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Minimum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Maximum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>288</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>320</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>336</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Digital input 1</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Ready to enable</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Warning</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Info data 1</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Info data 2</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Enable dithering</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Enable</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Reset</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>PWM output</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>232</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Enable dithering</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Invert polarity</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Watchdog</Name>
+									<Type>DT0803EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Offset</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Gain</Name>
+									<Type>DINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Default output</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Default output ramp</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>Max current [%]</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Kp factor</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Ki factor</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Kd factor</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>30</SubIdx>
+									<Name>Dithering frequency [Hz]</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>192</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>31</SubIdx>
+									<Name>Dithering amplitude [%]</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>33</SubIdx>
+									<Name>Select info data 1</Name>
+									<Type>DT0802EN08</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>216</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>34</SubIdx>
+									<Name>Select info data 2</Name>
+									<Type>DT0804EN08</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT800F</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Offset</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Gain</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTA000</Name>
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+										<Category>o</Category>
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+								<SubItem>
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+										<Category>o</Category>
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+										<Category>o</Category>
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+									<Type>BOOL</Type>
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+										<Access>ro</Access>
+										<Category>o</Category>
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+								<SubItem>
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+									<Name>Short circuit</Name>
+									<Type>BOOL</Type>
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+										<Access>ro</Access>
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+										<Category>o</Category>
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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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+								<SubItem>
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+									<Name>Maximum number of modules</Name>
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+										<Access>ro</Access>
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+										<Category>o</Category>
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+								<SubItem>
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+									<Name>Voltage [mV]</Name>
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+										<Category>o</Category>
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+									<Name>Temperature [°C]</Name>
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+									<Name>Request</Name>
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+										<Category>o</Category>
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+									<Name>Status</Name>
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+									<Name>Response</Name>
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+										<Access>ro</Access>
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+								<Name>Device type</Name>
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+								<Info>
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+									<DefaultData>454c32353335</DefaultData>
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+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
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+								<Name>Software version</Name>
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+								<Name>Restore default parameters</Name>
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+									<SubItem>
+										<Name>Product code</Name>
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+									<SubItem>
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+										<Name>Serial number</Name>
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+								<Name>PWM RxPDO-Map Control Ch.1</Name>
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+											<DefaultData>84030000</DefaultData>
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+											<MaxValue>#x1ffff</MaxValue>
+											<DefaultValue>#x10000</DefaultValue>
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+										</Info>
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+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x801f</Index>
+								<Name>PWM Vendor data Ch.2</Name>
+								<Type>DT800F</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Offset</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Gain</Name>
+										<Info>
+											<DefaultData>0040</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xa000</Index>
+								<Name>PWM Diag data Ch.1</Name>
+								<Type>DTA000</Type>
+								<BitSize>24</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>07</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Overtemperature</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Undervoltage</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Overvoltage</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Short circuit</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xa010</Index>
+								<Name>PWM Diag data Ch.2</Name>
+								<Type>DTA000</Type>
+								<BitSize>24</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>07</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Overtemperature</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Undervoltage</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Overvoltage</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Short circuit</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0200</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fa000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fa000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf900</Index>
+								<Name>PWM Info data</Name>
+								<Type>DTF900</Type>
+								<BitSize>40</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Voltage [mV]</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Temperature [°C]</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xfb00</Index>
+								<Name>PWM Command</Name>
+								<Type>DTFB00</Type>
+								<BitSize>72</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="64" MaxSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="64" MaxSize="128" DefaultSize="128" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="8" StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1180" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Mandatory="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>PWM Control Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable dithering</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Reset</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>9</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>INT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="2">
+					<Index>#x1601</Index>
+					<Name>PWM Control Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable dithering</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Reset</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>9</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>INT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>PWM Status Channel 1</Name>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Digital input 1</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Ready to enable</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Warning</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>7</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1800</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
+					<Name>PWM Synchron info data Channel 1</Name>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Info data 1</Name>
+						<DataType>INT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Info data 2</Name>
+						<DataType>INT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a02</Index>
+					<Name>PWM Status Channel 2</Name>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Digital input 1</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Ready to enable</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Warning</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>7</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a03</Index>
+					<Name>PWM Synchron info data Channel 2</Name>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Info data 1</Name>
+						<DataType>INT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Info data 2</Name>
+						<DataType>INT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>050003000a000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x0a2a3052" RevisionNo="#x00100000">EL2602</Type>
+				<Name LcId="1033"><![CDATA[EL2602 2Ch. Relay Output, NO (230V AC / 30V DC)]]></Name>
+				<Name LcId="1031"><![CDATA[EL2602 2K. Relais Ausgang, Schließer (230V AC / 30V DC)]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2602]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2602]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>170</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x0a343052" RevisionNo="#x00100000">EL2612</Type>
+				<Name LcId="1033"><![CDATA[EL2612 2Ch. Relay Output, CO (125V AC / 30V DC)]]></Name>
+				<Name LcId="1031"><![CDATA[EL2612 2K. Relais Ausgang, Wechsler (125V AC / 30V DC)]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2612]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2612]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>150</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x0a3e3052" RevisionNo="#x00100000">EL2622</Type>
+				<Name LcId="1033"><![CDATA[EL2622 2Ch. Relay Output, NO (230V AC / 30V DC)]]></Name>
+				<Name LcId="1031"><![CDATA[EL2622 2K. Relais Ausgang, Schließer (230V AC / 30V DC)]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2622]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2622]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>170</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x0A403052" RevisionNo="#x00100000">EL2624</Type>
+				<Name LcId="1033"><![CDATA[EL2624 4Ch. Relay Output, NO (125V AC / 30V DC)]]></Name>
+				<Name LcId="1031"><![CDATA[EL2624 4K. Relais Ausgang, Schließer (125V AC / 30V DC)]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2624]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2624]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>200</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x0a983052" RevisionNo="#x00100000">EL2712</Type>
+				<Name LcId="1033"><![CDATA[EL2712 2Ch. Triac Output 12..230V AC, 0.5A]]></Name>
+				<Name LcId="1031"><![CDATA[EL2712 2K. Triac Ausgang 12..230V AC, 0.5A]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2712]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2712]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>100</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x0aa23052" RevisionNo="#x00100000">EL2722</Type>
+				<Name LcId="1033"><![CDATA[EL2722 2Ch. Triac Output 12..230V AC, 1.0A, mutually locked]]></Name>
+				<Name LcId="1031"><![CDATA[EL2722 2K. Triac Ausgang 12..230V AC, 1.0A, gegenseitig verriegelt]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2722]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2722]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>100</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x0aac3052" RevisionNo="#x00100000">EL2732</Type>
+				<Name LcId="1033"><![CDATA[EL2732 2Ch. Triac Output 12..230V AC, 0.5A, no power contacts]]></Name>
+				<Name LcId="1031"><![CDATA[EL2732 2K. Triac Ausgang 12..230V AC, 0.5A, keine Powerkontakte]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2732]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2732]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>100</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x0AEE3052" RevisionNo="#x00100000">EL2798</Type>
+				<Name LcId="1033"><![CDATA[EL2798 8Ch. Dig. Output 24V AC/DC, 2A, potential-free]]></Name>
+				<Name LcId="1031"><![CDATA[EL2798 8K. Dig. Ausgang 24V AC/DC, 2A, potentialfrei]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2798]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2798]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>140</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1604</Index>
+					<Name>Channel 5</Name>
+					<Entry>
+						<Index>#x7040</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1605</Index>
+					<Name>Channel 6</Name>
+					<Entry>
+						<Index>#x7050</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1606</Index>
+					<Name>Channel 7</Name>
+					<Entry>
+						<Index>#x7060</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1607</Index>
+					<Name>Channel 8</Name>
+					<Entry>
+						<Index>#x7070</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x0AF83052" RevisionNo="#x00100000">EL2808</Type>
+				<Name LcId="1033"><![CDATA[EL2808 8Ch. Dig. Output 24V, 0.5A]]></Name>
+				<Name LcId="1031"><![CDATA[EL2808 8K. Dig. Ausgang 24V, 0.5A]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2808]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2808]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>110</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm MinSize="1" MaxSize="1" DefaultSize="1" StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1604</Index>
+					<Name>Channel 5</Name>
+					<Entry>
+						<Index>#x7040</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1605</Index>
+					<Name>Channel 6</Name>
+					<Entry>
+						<Index>#x7050</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1606</Index>
+					<Name>Channel 7</Name>
+					<Entry>
+						<Index>#x7060</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1607</Index>
+					<Name>Channel 8</Name>
+					<Entry>
+						<Index>#x7070</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>040100000000ff00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x0AF93052" RevisionNo="#x00100000">EL2809</Type>
+				<Name LcId="1033"><![CDATA[EL2809 16Ch. Dig. Output 24V, 0.5A]]></Name>
+				<Name LcId="1031"><![CDATA[EL2809 16K. Dig. Ausgang 24V, 0.5A]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2809]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2809]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>140</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm DefaultSize="1" StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Sm DefaultSize="1" StartAddress="#x0f01" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1604</Index>
+					<Name>Channel 5</Name>
+					<Entry>
+						<Index>#x7040</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1605</Index>
+					<Name>Channel 6</Name>
+					<Entry>
+						<Index>#x7050</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1606</Index>
+					<Name>Channel 7</Name>
+					<Entry>
+						<Index>#x7060</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1607</Index>
+					<Name>Channel 8</Name>
+					<Entry>
+						<Index>#x7070</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1608</Index>
+					<Name>Channel 9</Name>
+					<Entry>
+						<Index>#x7080</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1609</Index>
+					<Name>Channel 10</Name>
+					<Entry>
+						<Index>#x7090</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160a</Index>
+					<Name>Channel 11</Name>
+					<Entry>
+						<Index>#x70a0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160b</Index>
+					<Name>Channel 12</Name>
+					<Entry>
+						<Index>#x70b0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160c</Index>
+					<Name>Channel 13</Name>
+					<Entry>
+						<Index>#x70c0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160d</Index>
+					<Name>Channel 14</Name>
+					<Entry>
+						<Index>#x70d0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160e</Index>
+					<Name>Channel 15</Name>
+					<Entry>
+						<Index>#x70e0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160f</Index>
+					<Name>Channel 16</Name>
+					<Entry>
+						<Index>#x70f0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>040100000000ff00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x0B383052" RevisionNo="#x00100000">EL2872</Type>
+				<Name LcId="1033"><![CDATA[EL2872 16Ch. Dig. Output 24V, 0.5A]]></Name>
+				<Name LcId="1031"><![CDATA[EL2872 16K. Dig. Ausgang 24V, 0.5A]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2872]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2872]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm DefaultSize="1" StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Sm DefaultSize="1" StartAddress="#x0f01" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1604</Index>
+					<Name>Channel 5</Name>
+					<Entry>
+						<Index>#x7040</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1605</Index>
+					<Name>Channel 6</Name>
+					<Entry>
+						<Index>#x7050</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1606</Index>
+					<Name>Channel 7</Name>
+					<Entry>
+						<Index>#x7060</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1607</Index>
+					<Name>Channel 8</Name>
+					<Entry>
+						<Index>#x7070</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1608</Index>
+					<Name>Channel 9</Name>
+					<Entry>
+						<Index>#x7080</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1609</Index>
+					<Name>Channel 10</Name>
+					<Entry>
+						<Index>#x7090</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160a</Index>
+					<Name>Channel 11</Name>
+					<Entry>
+						<Index>#x70a0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160b</Index>
+					<Name>Channel 12</Name>
+					<Entry>
+						<Index>#x70b0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160c</Index>
+					<Name>Channel 13</Name>
+					<Entry>
+						<Index>#x70c0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160d</Index>
+					<Name>Channel 14</Name>
+					<Entry>
+						<Index>#x70d0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160e</Index>
+					<Name>Channel 15</Name>
+					<Entry>
+						<Index>#x70e0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160f</Index>
+					<Name>Channel 16</Name>
+					<Entry>
+						<Index>#x70f0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>040100000000ff00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x0B383052" RevisionNo="#x0010000A">EL2872-0010</Type>
+				<Name LcId="1033"><![CDATA[EL2872-0010 16Ch. Dig. Output 24V, 0.5A, negative]]></Name>
+				<Name LcId="1031"><![CDATA[EL2872-0010 16K. Dig. Ausgang 24V, 0.5A, negativ]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2872]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2872]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm DefaultSize="1" StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Sm DefaultSize="1" StartAddress="#x0f01" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1604</Index>
+					<Name>Channel 5</Name>
+					<Entry>
+						<Index>#x7040</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1605</Index>
+					<Name>Channel 6</Name>
+					<Entry>
+						<Index>#x7050</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1606</Index>
+					<Name>Channel 7</Name>
+					<Entry>
+						<Index>#x7060</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1607</Index>
+					<Name>Channel 8</Name>
+					<Entry>
+						<Index>#x7070</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1608</Index>
+					<Name>Channel 9</Name>
+					<Entry>
+						<Index>#x7080</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1609</Index>
+					<Name>Channel 10</Name>
+					<Entry>
+						<Index>#x7090</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160a</Index>
+					<Name>Channel 11</Name>
+					<Entry>
+						<Index>#x70a0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160b</Index>
+					<Name>Channel 12</Name>
+					<Entry>
+						<Index>#x70b0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160c</Index>
+					<Name>Channel 13</Name>
+					<Entry>
+						<Index>#x70c0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160d</Index>
+					<Name>Channel 14</Name>
+					<Entry>
+						<Index>#x70d0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160e</Index>
+					<Name>Channel 15</Name>
+					<Entry>
+						<Index>#x70e0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160f</Index>
+					<Name>Channel 16</Name>
+					<Entry>
+						<Index>#x70f0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>040100000000ff00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x0B493052" RevisionNo="#x00100000">EL2889</Type>
+				<Name LcId="1033"><![CDATA[EL2889 16Ch. Dig. Output 24V, 0.5A, negative]]></Name>
+				<Name LcId="1031"><![CDATA[EL2889 16K. Dig. Ausgang 24V, 0.5A, negativ]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2889]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2889]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>140</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm DefaultSize="1" StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Sm DefaultSize="1" StartAddress="#x0f01" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1604</Index>
+					<Name>Channel 5</Name>
+					<Entry>
+						<Index>#x7040</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1605</Index>
+					<Name>Channel 6</Name>
+					<Entry>
+						<Index>#x7050</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1606</Index>
+					<Name>Channel 7</Name>
+					<Entry>
+						<Index>#x7060</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1607</Index>
+					<Name>Channel 8</Name>
+					<Entry>
+						<Index>#x7070</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1608</Index>
+					<Name>Channel 9</Name>
+					<Entry>
+						<Index>#x7080</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1609</Index>
+					<Name>Channel 10</Name>
+					<Entry>
+						<Index>#x7090</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160a</Index>
+					<Name>Channel 11</Name>
+					<Entry>
+						<Index>#x70a0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160b</Index>
+					<Name>Channel 12</Name>
+					<Entry>
+						<Index>#x70b0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160c</Index>
+					<Name>Channel 13</Name>
+					<Entry>
+						<Index>#x70c0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160d</Index>
+					<Name>Channel 14</Name>
+					<Entry>
+						<Index>#x70d0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160e</Index>
+					<Name>Channel 15</Name>
+					<Entry>
+						<Index>#x70e0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160f</Index>
+					<Name>Channel 16</Name>
+					<Entry>
+						<Index>#x70f0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>040100000000ff00</ConfigData>
+				</Eeprom>
+			</Device>
+		</Devices>
+	</Descriptions>
+</EtherCATInfo>
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/ethercat/wago_higen/ethercat@etherlab/modules/Higen_EDA7000_CoE_ver16_with_variablePDO_rv3.xml	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,3734 @@
+<?xml version="1.0" encoding="utf-8"?>
+<EtherCATInfo xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd" Version="1.2">
+  <Vendor>
+    <Id>#x00000625</Id>
+    <Name>HIGEN Motor Co., Ltd.</Name>
+    <ImageData16x14>424DB6030000000000003600000028000000100000000E000000010020000000000080030000130B0000130B00000000000000000000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFF0000FFFF0000FFFF0000FFFFFFFFFF0000FFFFFFFFFFFFFF0000FFFF0000FFFF0000FF0000FFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFF0000FFFFFFFFFFFF0000FFFFFFFFFF0000FFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFF0000FFFFFFFFFFFF0000FFFF0000FFFF0000FFFF0000FFFFFF0000FFFFFFFFFFFF0000FFFFFFFFFF0000FFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFF0000FFFF0000FFFF0000FFFF0000FFFF0000FFFF0000FFFFFF0000FFFFFFFFFFFF0000FFFFFFFFFF0000FFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFF0000FFFF0000FFFF0000FF0000FFFF0000FFFF0000FFFFFF0000FFFF0000FFFF0000FF0000FFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFF0000FFFF0000FFFF0000FF0000FFFF0000FFFF0000FFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFF0000FFFF0000FFFF0000FF0000FFFFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFF0000FFFF0000FF0000FFFFFF0000FFFFFFFFFFFF0000FF0000FFFF0000FFFF0000FFFFFF0000FFFF0000FFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFFFFFFFFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFF0000FFFFFFFFFFFFFFFFFF0000FFFF0000FFFF0000FFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF</ImageData16x14>
+  </Vendor>
+  <Descriptions>
+    <Groups>
+      <Group SortOrder="520">
+        <Type>Drive</Type>
+        <Name LcId="1033">Drives</Name>
+        <Image16x14>DRIVE</Image16x14>
+      </Group>
+    </Groups>
+    <Devices>
+      <Device Physics="YY">
+        <Type TcCfgModeSafeOp="1" ProductCode="#x69686555" RevisionNo="#x00000003">EDA7000 CoE Drive</Type>
+        <Name LcId="1033"><![CDATA[EDA7000 CoE Servo Drive]]></Name>
+        <URL LcId="1033">http://www.higenmotor.com/info/infodata03.asp?exec=3</URL>
+        <Info>
+          <StateMachine>
+            <Behavior StartToSafeopNoSync="false" />
+          </StateMachine>
+        </Info>
+        <GroupType>Drive</GroupType>
+        <Profile>
+          <ProfileNo>402</ProfileNo>
+          <Dictionary>
+            <DataTypes>
+              <DataType>
+                <Name>BOOL</Name>
+                <BitSize>1</BitSize>
+              </DataType>
+              <DataType>
+                <Name>SINT</Name>
+                <BitSize>8</BitSize>
+              </DataType>
+              <DataType>
+                <Name>USINT</Name>
+                <BitSize>8</BitSize>
+              </DataType>
+              <DataType>
+                <Name>INT</Name>
+                <BitSize>16</BitSize>
+              </DataType>
+              <DataType>
+                <Name>UINT</Name>
+                <BitSize>16</BitSize>
+              </DataType>
+              <DataType>
+                <Name>DINT</Name>
+                <BitSize>32</BitSize>
+              </DataType>
+              <DataType>
+                <Name>UDINT</Name>
+                <BitSize>32</BitSize>
+              </DataType>
+              <DataType>
+                <Name>STRING(4)</Name>
+                <BitSize>32</BitSize>
+              </DataType>
+              <DataType>
+                <Name>STRING(12)</Name>
+                <BitSize>96</BitSize>
+              </DataType>
+              <DataType>
+                <Name>DT1018</Name>
+                <BitSize>80</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>Vendor ID</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>Product code</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>48</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT1600</Name>
+                <BitSize>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>
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+                  <SubIdx>0</SubIdx>
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+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
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+                </SubItem>
+                <SubItem>
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+                  <Name>Alarm history 1</Name>
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+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
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+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>Alarm history 2</Name>
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+                    <Access>ro</Access>
+                    <Category>o</Category>
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+                <SubItem>
+                  <SubIdx>3</SubIdx>
+                  <Name>Alarm history 3</Name>
+                  <Type>UDINT</Type>
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+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
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+                <SubItem>
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+                  <Name>Alarm history 4</Name>
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+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
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+                <SubItem>
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+                  <Name>Alarm history 5</Name>
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+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
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+                <SubItem>
+                  <SubIdx>6</SubIdx>
+                  <Name>Alarm history 6</Name>
+                  <Type>UDINT</Type>
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+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
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+                <SubItem>
+                  <SubIdx>7</SubIdx>
+                  <Name>Alarm history 7</Name>
+                  <Type>UDINT</Type>
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+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
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+                </SubItem>
+                <SubItem>
+                  <SubIdx>8</SubIdx>
+                  <Name>Alarm history 8</Name>
+                  <Type>UDINT</Type>
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+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
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+                  <Name>Alarm history 9</Name>
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+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
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+                <SubItem>
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+                  <Name>Alarm history 10</Name>
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+                    <Access>ro</Access>
+                    <Category>o</Category>
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+                <SubItem>
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+                  <Name>Alarm Reset</Name>
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+                  <BitOffs>336</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
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+                    <Access>ro</Access>
+                    <Category>o</Category>
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+                <SubItem>
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+                  <Name>Invalid Frame Counter</Name>
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+                    <Access>ro</Access>
+                    <Category>o</Category>
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+                <SubItem>
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+                  <Name>Rx Error Counter</Name>
+                  <Type>UINT</Type>
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+                    <Access>ro</Access>
+                    <Category>o</Category>
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+                <SubItem>
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+                  <Name>Lost Link Counter</Name>
+                  <Type>UINT</Type>
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+                    <Access>ro</Access>
+                    <Category>o</Category>
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+                <SubItem>
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+                  <Name>Counter Reset</Name>
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+                    <Access>rw</Access>
+                    <Category>o</Category>
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+              <DataType>
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+                    <Access>rw</Access>
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+                <SubItem>
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+                  <Name>Encoder increments</Name>
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+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
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+                <SubItem>
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+                  <Name>Motor revolutions</Name>
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+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
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+              <DataType>
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+                    <Access>rw</Access>
+                    <Category>o</Category>
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+                <SubItem>
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+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
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+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>Motor revolutions per second</Name>
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+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
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+                    <Access>rw</Access>
+                    <Category>o</Category>
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+                <SubItem>
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+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
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+                    <Category>o</Category>
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+                <Name>Device type</Name>
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+                <Flags>
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+                <Name>Error register</Name>
+                <Type>USINT</Type>
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+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>02</DefaultData>
+                      <!-- 4 -> 2  -->
+                    </Info>
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+                  <SubItem>
+                    <Name>Vendor ID</Name>
+                    <Info>
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+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Product code</Name>
+                    <Info>
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+                      <!-- EDA7  ascii code -->
+                    </Info>
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+                <Flags>
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+                      <DefaultData>08006160</DefaultData>
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+                  </SubItem>
+                  <SubItem>
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+                      <DefaultData>08000000</DefaultData>
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+                    <Info>
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+                  <SubItem>
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+                  <SubItem>
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+                      <DefaultData>00000000</DefaultData>
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+                  <SubItem>
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+                      <DefaultData>00350C00</DefaultData>
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+                  <SubItem>
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+                    <Name>Cycle exceeded counter</Name>
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+                      <DefaultData>00000000</DefaultData>
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+                  <SubItem>
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+                      <DefaultData>00000000</DefaultData>
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+                  <SubItem>
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+                      <DefaultData>00000000</DefaultData>
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+                  <SubItem>
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+                      <DefaultData>00000000</DefaultData>
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+                <Name>Drive ID (P01-11)</Name>
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+                <Name>Encoder ID (P01-12) [8:INC17bit, 9:ABS17bit]</Name>
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+                  <Access>rw</Access>
+                  <Category>o</Category>
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+                <Name>Pulse Out Rate (P01-14)</Name>
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+                <Info>
+                  <DefaultData>00020000</DefaultData>
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+              <Object>
+                <Index>#x2010</Index>
+                <Name>Mode Change Time (x0.1ms) (P02-02)</Name>
+                <Type>UDINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>0000000A</DefaultData>
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+                <Name>Internal CCW Speed Limit (x0.1rpm) (P02-05)</Name>
+                <Type>UDINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>00000000</DefaultData>
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+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>00000000</DefaultData>
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+                <Index>#x2013</Index>
+                <Name>Brake Speed (x0.1rpm) (P02-07)</Name>
+                <Type>UDINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>000001F4</DefaultData>
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+                <Flags>
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+                <Name>Brake Time (x0.1ms) (P02-08)</Name>
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+                <Info>
+                  <DefaultData>00000032</DefaultData>
+                </Info>
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+                  <Access>rw</Access>
+                  <Category>o</Category>
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+                <Index>#x2015</Index>
+                <Name>Servo OFF Delay Time (x0.1ms) (P02-30)</Name>
+                <Type>UDINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>0000000A</DefaultData>
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+                  <Access>rw</Access>
+                  <Category>o</Category>
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+                <Name>Notch Filter 1 Mode (P02-10)</Name>
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+                <BitSize>32</BitSize>
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+                  <DefaultData>00000BB8</DefaultData>
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+                  <Category>o</Category>
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+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>000003B6</DefaultData>
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+                  <DefaultData>00001388</DefaultData>
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+                <Info>
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+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>00000000</DefaultData>
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+                  <Category>o</Category>
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+                <BitSize>32</BitSize>
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+                  <DefaultData>00000014</DefaultData>
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+                  <Category>o</Category>
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+                <Index>#x2020</Index>
+                <Name>Gain Adjust Speed 1 (x0.1rpm) (P02-20)</Name>
+                <Type>UDINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>00001F40</DefaultData>
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+                  <Access>rw</Access>
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+                <Name>Gain Adjust Speed 2 (x0.1rpm) (P02-21)</Name>
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+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>000003E8</DefaultData>
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+                <Name>Gain Adjust Torque 1 (x0.1%) (P02-22)</Name>
+                <Type>UDINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>000005DC</DefaultData>
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+                <Name>Gain Adjust Torque 2 (x0.1%) (P02-23)</Name>
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+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>000005DC</DefaultData>
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+                <Name>Digital Inputs Reverse Setting ([2]ESTOP, [1]CW, [0]CCW)</Name>
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+                <Info>
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+                <Info>
+                  <DefaultData>00000000</DefaultData>
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+              <Object>
+                <Index>#x2042</Index>
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+                <Type>UDINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>00000000</DefaultData>
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+              <Object>
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+                  <DefaultData>00000000</DefaultData>
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+                  <Access>rw</Access>
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+              </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>
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+                  <Access>rw</Access>
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+              <Object>
+                <Index>#x2045</Index>
+                <Name>Position Command Time Constant (x0.1ms) (P05-10)</Name>
+                <Type>UDINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>00000000</DefaultData>
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+                  <DefaultData>00000000</DefaultData>
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+                  <Access>rw</Access>
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+                <Index>#x2047</Index>
+                <Name>Electronic Gear NUM (P05-12) [0.05 ~ NUM/DEN ~ 20]</Name>
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+                  <DefaultData>00000001</DefaultData>
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+                  <Access>rw</Access>
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+                <Name>Electronic Gear DEN (P05-13) [0.05 ~ NUM/DEN ~ 20]</Name>
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+                  <DefaultData>00000001</DefaultData>
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+                  <Access>rw</Access>
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+                <Index>#x2049</Index>
+                <Name>Position Control Bias Speed Compensation (x0.1rpm) (P05-20)</Name>
+                <Type>DINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>00000000</DefaultData>
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+                  <Access>rw</Access>
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+              <Object>
+                <Index>#x204B</Index>
+                <Name>Position Control Backlash Pulse Compensation (ppr) (P05-22)</Name>
+                <Type>UDINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>00000000</DefaultData>
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+                  <Access>rw</Access>
+                  <Category>o</Category>
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+              </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>
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+                  <Access>rw</Access>
+                  <Category>o</Category>
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+                  <Category>o</Category>
+                  <PdoMapping>T</PdoMapping>
+                </Flags>
+              </Object>
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+                <Index>#x2070</Index>
+                <Name>Monitor 1 Select (P09-01)</Name>
+                <Type>USINT</Type>
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+                  <DefaultData>00</DefaultData>
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+                  <Access>rw</Access>
+                  <Category>o</Category>
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+              <Object>
+                <Index>#x2071</Index>
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+                <Info>
+                  <DefaultData>00</DefaultData>
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+                  <Access>rw</Access>
+                  <Category>o</Category>
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+              <Object>
+                <Index>#x2072</Index>
+                <Name>Monitor 1 Scale (x0.1) (P09-03)</Name>
+                <Type>UDINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>0000000A</DefaultData>
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+                  <Access>rw</Access>
+                  <Category>o</Category>
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+              </Object>
+              <Object>
+                <Index>#x2073</Index>
+                <Name>Monitor 1 Offset (mV) (P09-04)</Name>
+                <Type>DINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>00000000</DefaultData>
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+                  <Access>rw</Access>
+                  <Category>o</Category>
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+                <Info>
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+                <Index>#x2077</Index>
+                <Name>Monitor 2 Offset (mV) (P09-08)</Name>
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+                <Info>
+                  <DefaultData>00000000</DefaultData>
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+                  <Access>rw</Access>
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+                  <PdoMapping>R</PdoMapping>
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+                  <PdoMapping>T</PdoMapping>
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+              <Object>
+                <Index>#x605A</Index>
+                <Name>Quick Stop Option Code</Name>
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+                  <DefaultData>0600</DefaultData>
+                </Info>
+                <Flags>
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+                  <Category>o</Category>
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+                  <DefaultData>0200</DefaultData>
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+                <Flags>
+                  <Access>rw</Access>
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+              <Object>
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+                <Name>Fault Reaction Option Code</Name>
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+                <Info>
+                  <DefaultData>FFFF</DefaultData>
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+                  <Access>rw</Access>
+                  <Category>o</Category>
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+                <Name>Modes Of Operation</Name>
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+                  <DefaultData>08</DefaultData>
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+                <Info>
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+                <Index>#x6067</Index>
+                <Name>Position Window</Name>
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+                  <Access>rw</Access>
+                  <Category>o</Category>
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+                <Name>Velocity Actual Value</Name>
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+                <Info>
+                  <DefaultData>00000000</DefaultData>
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+                  <Access>rw</Access>
+                  <Category>o</Category>
+                  <PdoMapping>T</PdoMapping>
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+              <Object>
+                <Index>#x606D</Index>
+                <Name> Velocity Window</Name>
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+                <Flags>
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+                  <Category>o</Category>
+                  <PdoMapping>T</PdoMapping>
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+                <Index>#x6079</Index>
+                <Name>DC link circuit voltage</Name>
+                <Type>UDINT</Type>
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+                  <Category>o</Category>
+                  <PdoMapping>T</PdoMapping>
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+              </Object>
+              <Object>
+                <Index>#x6071</Index>
+                <Name>Target Torque</Name>
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+                <Info>
+                  <DefaultData>0000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                  <PdoMapping>R</PdoMapping>
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+              </Object>
+              <Object>
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+                <Name>Torque Actual Value</Name>
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+                  <Category>o</Category>
+                  <PdoMapping>T</PdoMapping>
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+                <Index>#x607A</Index>
+                <Name>Target Position</Name>
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+                <Info>
+                  <DefaultData>00000000</DefaultData>
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+                  <Access>rw</Access>
+                  <Category>o</Category>
+                  <PdoMapping>R</PdoMapping>
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+              <Object>
+                <Index>#x607C</Index>
+                <Name>Home Offset</Name>
+                <Type>DINT</Type>
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+                <Info>
+                  <DefaultData>00000000</DefaultData>
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+                  <Access>rw</Access>
+                  <Category>o</Category>
+                  <PdoMapping>R</PdoMapping>
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+              </Object>
+              <Object>
+                <Index>#x607D</Index>
+                <Name>Software Position Limit</Name>
+                <Type>DT607D</Type>
+                <BitSize>80</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>02</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Minimum Software position limit</Name>
+                    <Info>
+                      <DefaultData>00000080</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Maximum Software position limit</Name>
+                    <Info>
+                      <DefaultData>ffffff7f</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
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+                  <Access>rw</Access>
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+                <Name>Polarity</Name>
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+                  <Category>o</Category>
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+                <Name>Profile Acceleration</Name>
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+                  <DefaultData>FFFFFFFF</DefaultData>
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+                  <Access>rw</Access>
+                  <Category>o</Category>
+                  <PdoMapping>R</PdoMapping>
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+                <Name>Profile Deceleration</Name>
+                <Type>UDINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>ffffffff</DefaultData>
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+                  <Access>rw</Access>
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+                  <PdoMapping>R</PdoMapping>
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+                  <Access>rw</Access>
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+              <Object>
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+                <Name>Homing Speeds</Name>
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+                <BitSize>80</BitSize>
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+                      <DefaultData>02</DefaultData>
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+                  </SubItem>
+                  <SubItem>
+                    <Name>Speed during search for switch</Name>
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+                      <DefaultData>55550300</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Speed during search for zero</Name>
+                    <Info>
+                      <DefaultData>88080000</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
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+                  <Access>rw</Access>
+                  <Category>o</Category>
+                  <PdoMapping>R</PdoMapping>
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+              </Object>
+              <Object>
+                <Index>#x609A</Index>
+                <Name>Homing Acceleration</Name>
+                <Type>UDINT</Type>
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+                <Info>
+                  <DefaultData>ffffffff</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
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+                <Name>Touch Probe Fucntion</Name>
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+                <Info>
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+                <Flags>
+                  <Access>ro</Access>
+                  <Category>o</Category>
+                  <PdoMapping>R</PdoMapping>
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+              </Object>
+              <Object>
+                <Index>#x60B9</Index>
+                <Name>Touch Probe Status</Name>
+                <Type>UINT</Type>
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+                <Info>
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+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                  <PdoMapping>T</PdoMapping>
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+              </Object>
+              <Object>
+                <Index>#x60BA</Index>
+                <Name>Touch Probe Pos1 Pos Value</Name>
+                <Type>DINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>00000000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <Category>o</Category>
+                  <PdoMapping>T</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x60BB</Index>
+                <Name>Touch Probe Pos1 Neg Value</Name>
+                <Type>DINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>00000000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <Category>o</Category>
+                  <PdoMapping>T</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x60E0</Index>
+                <Name>Positive Torque Limit</Name>
+                <Type>UINT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>E803</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                  <PdoMapping>R</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x60E1</Index>
+                <Name>Negative Torque Limit</Name>
+                <Type>UINT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>E803</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                  <PdoMapping>R</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x60F4</Index>
+                <Name>Following Error Actual Value</Name>
+                <Type>DINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>00000000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <Category>o</Category>
+                  <PdoMapping>T</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x60FD</Index>
+                <Name>Digital Inputs</Name>
+                <Type>UDINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>00000000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <Category>o</Category>
+                  <PdoMapping>T</PdoMapping>
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+              </Object>
+              <Object>
+                <Index>#x60FE</Index>
+                <Name>Digital Outputs</Name>
+                <Type>DT60FE</Type>
+                <BitSize>48</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>01</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Physical output</Name>
+                    <Info>
+                      <DefaultData>00000000</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                  <PdoMapping>RT</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x60FF</Index>
+                <Name>Target Velocity</Name>
+                <Type>DINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>00000000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                  <PdoMapping>R</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x6502</Index>
+                <Name>Supported Drive Mode</Name>
+                <Type>UDINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>000003A0</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x20A0</Index>
+                <Name>Alarm history</Name>
+                <Type>DT20A0</Type>
+                <BitSize>368</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>12</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Alarm history 1</Name>
+                    <Info>
+                      <DefaultData>00000000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Alarm history 2</Name>
+                    <Info>
+                      <DefaultData>00000000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Alarm history 3</Name>
+                    <Info>
+                      <DefaultData>00000000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Alarm history 4</Name>
+                    <Info>
+                      <DefaultData>00000000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Alarm history 5</Name>
+                    <Info>
+                      <DefaultData>00000000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Alarm history 6</Name>
+                    <Info>
+                      <DefaultData>00000000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Alarm history 7</Name>
+                    <Info>
+                      <DefaultData>00000000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Alarm history 8</Name>
+                    <Info>
+                      <DefaultData>00000000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Alarm history 9</Name>
+                    <Info>
+                      <DefaultData>00000000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Alarm history 10</Name>
+                    <Info>
+                      <DefaultData>00000000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Alarm Reset</Name>
+                    <Info>
+                      <DefaultData>00000000</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x20A2</Index>
+                <Name>Communication Error Counter</Name>
+                <Type>DT20A2</Type>
+                <BitSize>80</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>04</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Invalid Frame Counter</Name>
+                    <Info>
+                      <DefaultData>0000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Rx Error Counter</Name>
+                    <Info>
+                      <DefaultData>0000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Lost Link Counter</Name>
+                    <Info>
+                      <DefaultData>0000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Counter Reset</Name>
+                    <Info>
+                      <DefaultData>0000</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x6080</Index>
+                <Name>Max Motor Speed  </Name>
+                <Type>UDINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>00004E20</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x608F</Index>
+                <Name>Position encoder revolution</Name>
+                <Type>DT608F</Type>
+                <BitSize>80</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>02</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Encoder increments</Name>
+                    <Info>
+                      <DefaultData>00000200</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Motor revolutions</Name>
+                    <Info>
+                      <DefaultData>01000000</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x6090</Index>
+                <Name>Velocity Encoder revolution</Name>
+                <Type>DT6090</Type>
+                <BitSize>80</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>02</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Encoder incremets per second</Name>
+                    <Info>
+                      <DefaultData>00000200</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Motor revolutions per second</Name>
+                    <Info>
+                      <DefaultData>01000000</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x6092</Index>
+                <Name>Feed constant</Name>
+                <Type>DT6092</Type>
+                <BitSize>80</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>02</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Feed</Name>
+                    <Info>
+                      <DefaultData>00020000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Shaft revolutions</Name>
+                    <Info>
+                      <DefaultData>00000001</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x6403</Index>
+                <Name>Motor catalog number</Name>
+                <Type>STRING(4)</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>30303030</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x1008</Index>
+                <Name>Manufacturer Device Name</Name>
+                <Type>STRING(12)</Type>
+                <BitSize>96</BitSize>
+                <Info>
+                  <DefaultData>454441373030300000000000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x6072</Index>
+                <Name>Max torque</Name>
+                <Type>UINT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>8813</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                  <PdoMapping>RT</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x2028</Index>
+                <Name>Redundancy Enable</Name>
+                <Type>USINT</Type>
+                <BitSize>8</BitSize>
+                <Info>
+                  <DefaultData>00</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+            </Objects>
+          </Dictionary>
+        </Profile>
+        <Fmmu Sm="2">Outputs</Fmmu>
+        <Fmmu Sm="3">Inputs</Fmmu>
+        <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1800" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+        <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1c00" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+        <Sm StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
+        <Sm StartAddress="#x1400" ControlByte="#x20" Enable="1">Inputs</Sm>
+        <Su>Drives</Su>
+        <RxPdo Sm="2">
+          <Index>#x1600</Index>
+          <Name>Receive PDO mapping</Name>
+          <Exclude>#x1601</Exclude>
+          <Exclude>#x1602</Exclude>
+          <Entry>
+            <Index>#x6040</Index>
+            <!-- ControlWord -->
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Controlword</Name>
+            <Comment>object 0x6040:0</Comment>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x607A</Index>
+            <!-- Target Position -->
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Target Position</Name>
+            <Comment>object 0x607A:0</Comment>
+            <DataType>DINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x60FF</Index>
+            <!-- Target Velocity -->
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Target Velocity</Name>
+            <Comment>object 0x60FF:0</Comment>
+            <DataType>DINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x6071</Index>
+            <!-- Target Torque -->
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Target Torque</Name>
+            <Comment>object 0x6071:0</Comment>
+            <DataType>INT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x6060</Index>
+            <!-- Mode of Operation -->
+            <SubIndex>0</SubIndex>
+            <BitLen>8</BitLen>
+            <Name>Mode of Operation</Name>
+            <Comment>object 0x6060:0</Comment>
+            <DataType>SINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>0</Index>
+            <!--Padding-->
+            <SubIndex>0</SubIndex>
+            <BitLen>8</BitLen>
+          </Entry>
+        </RxPdo>
+        <RxPdo Fixed="1">
+          <Index>#x1601</Index>
+          <Name>Receive PDO mapping</Name>
+          <Exclude>#x1600</Exclude>
+          <Exclude>#x1602</Exclude>
+          <Entry>
+            <Index>#x6040</Index>
+            <!-- ControlWord -->
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Controlword</Name>
+            <Comment>object 0x6040:0</Comment>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x60FF</Index>
+            <!-- Target Velocity -->
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Target Velocity</Name>
+            <Comment>object 0x60FF:0</Comment>
+            <DataType>DINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x60E0</Index>
+            <!--Positive Torque Limit Value-->
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Positive Torque Limit Value</Name>
+            <Comment>object 0x60E0:0</Comment>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x60E1</Index>
+            <!--Negative Torque Limit Value-->
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Negative Torque Limit Value</Name>
+            <Comment>object 0x60E1:0</Comment>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x6060</Index>
+            <!-- Mode of Operation -->
+            <SubIndex>0</SubIndex>
+            <BitLen>8</BitLen>
+            <Name>Mode of Operation</Name>
+            <Comment>object 0x6060:0</Comment>
+            <DataType>SINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>0</Index>
+            <!--Padding-->
+            <SubIndex>0</SubIndex>
+            <BitLen>8</BitLen>
+          </Entry>
+        </RxPdo>
+        <RxPdo Fixed="1">
+          <Index>#x1602</Index>
+          <Name>Receive PDO mapping</Name>
+          <Exclude>#x1600</Exclude>
+          <Exclude>#x1601</Exclude>
+          <Entry>
+            <Index>#x6040</Index>
+            <!-- ControlWord -->
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Controlword</Name>
+            <Comment>object 0x6040:0</Comment>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x607A</Index>
+            <!-- Target Position -->
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Target Position</Name>
+            <Comment>object 0x607A:0</Comment>
+            <DataType>DINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x60FF</Index>
+            <!-- Target Velocity -->
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Target Velocity</Name>
+            <Comment>object 0x60FF:0</Comment>
+            <DataType>DINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x60B8</Index>
+            <!--Touch Probe Function-->
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Touch Probe Function</Name>
+            <Comment>object 0x60B8:0</Comment>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x6060</Index>
+            <!-- Mode of Operation -->
+            <SubIndex>0</SubIndex>
+            <BitLen>8</BitLen>
+            <Name>Mode of Operation</Name>
+            <Comment>object 0x6060:0</Comment>
+            <DataType>SINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>0</Index>
+            <!--Padding-->
+            <SubIndex>0</SubIndex>
+            <BitLen>8</BitLen>
+          </Entry>
+        </RxPdo>
+        <TxPdo Sm="3">
+          <Index>#x1A00</Index>
+          <Name>Transmit PDO mapping</Name>
+          <Exclude>#x1A01</Exclude>
+          <Exclude>#x1A02</Exclude>
+          <Entry>
+            <Index>#x6041</Index>
+            <!-- Status Word -->
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Statusword</Name>
+            <Comment>object 0x6041:0</Comment>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x6064</Index>
+            <!-- Actual Position -->
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Position actual value</Name>
+            <Comment>object 0x6064:0</Comment>
+            <DataType>DINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x6077</Index>
+            <!-- Actual Toruque -->
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Torque actual value</Name>
+            <Comment>object 0x6077:0</Comment>
+            <DataType>INT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x6061</Index>
+            <!-- Mode of Operation Display -->
+            <SubIndex>0</SubIndex>
+            <BitLen>8</BitLen>
+            <Name>Modes of operation display</Name>
+            <Comment>object 0x6061:0</Comment>
+            <DataType>SINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>0</Index>
+            <!--Padding-->
+            <SubIndex>0</SubIndex>
+            <BitLen>8</BitLen>
+          </Entry>
+        </TxPdo>
+        <TxPdo Fixed="1">
+          <Index>#x1A01</Index>
+          <Name>Transmit PDO mapping</Name>
+          <Exclude>#x1A00</Exclude>
+          <Exclude>#x1A02</Exclude>
+          <Entry>
+            <Index>#x6041</Index>
+            <!-- Status Word -->
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Statusword</Name>
+            <Comment>object 0x6041:0</Comment>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x6064</Index>
+            <!-- Actual Position -->
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Position actual value</Name>
+            <Comment>object 0x6064:0</Comment>
+            <DataType>DINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x606C</Index>
+            <!-- Actual Velocity-->
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name> Actual Velocity</Name>
+            <Comment>object 0x606C:0</Comment>
+            <DataType>DINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x6077</Index>
+            <!-- Actual Toruque -->
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Torque actual value</Name>
+            <Comment>object 0x6077:0</Comment>
+            <DataType>INT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2051</Index>
+            <!--Actual peak torque limit-->
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Actual peak torque limit</Name>
+            <Comment>object 0x2051:0</Comment>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x6061</Index>
+            <!-- Mode of Operation Display -->
+            <SubIndex>0</SubIndex>
+            <BitLen>8</BitLen>
+            <Name>Modes of operation display</Name>
+            <Comment>object 0x6061:0</Comment>
+            <DataType>SINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>0</Index>
+            <!--Padding-->
+            <SubIndex>0</SubIndex>
+            <BitLen>8</BitLen>
+          </Entry>
+        </TxPdo>
+        <TxPdo Fixed="1">
+          <Index>#x1A02</Index>
+          <Name>Transmit PDO mapping</Name>
+          <Exclude>#x1A00</Exclude>
+          <Exclude>#x1A01</Exclude>
+          <Entry>
+            <Index>#x6041</Index>
+            <!-- Status Word -->
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Statusword</Name>
+            <Comment>object 0x6041:0</Comment>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x6064</Index>
+            <!-- Actual Position -->
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Position actual value</Name>
+            <Comment>object 0x6064:0</Comment>
+            <DataType>DINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x606C</Index>
+            <!-- Actual Velocity-->
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name> Actual Velocity</Name>
+            <Comment>object 0x606C:0</Comment>
+            <DataType>DINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x60B9</Index>
+            <!--Touch Probe Status-->
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Touch Probe Status</Name>
+            <Comment>object 0x60B9:0</Comment>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x60BA</Index>
+            <!--Touch Probe Pos1 Pos Value-->
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Touch Probe Pos1 Pos Value</Name>
+            <Comment>object 0x60BA:0</Comment>
+            <DataType>DINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x60BB</Index>
+            <!--Touch Probe Pos1 Neg Value-->
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Touch Probe Pos1 Neg Value</Name>
+            <Comment>object 0x60BB:0</Comment>
+            <DataType>DINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x60FD</Index>
+            <!--Digital Inputs-->
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Digital Inputs</Name>
+            <Comment>object 0x60FD:0</Comment>
+            <DataType>UDINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x6061</Index>
+            <!-- Mode of Operation Display -->
+            <SubIndex>0</SubIndex>
+            <BitLen>8</BitLen>
+            <Name>Modes of operation display</Name>
+            <Comment>object 0x6061:0</Comment>
+            <DataType>SINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>0</Index>
+            <!--Padding-->
+            <SubIndex>0</SubIndex>
+            <BitLen>8</BitLen>
+          </Entry>
+        </TxPdo>
+        <Mailbox>
+          <CoE DS402Channels="1" CompleteAccess="false" PdoUpload="false" PdoConfig="true" PdoAssign="true" SdoInfo="false"></CoE>
+        </Mailbox>
+        <Dc>
+          <OpMode>
+            <Name>DC</Name>
+            <Desc>DC-Synchron by Sync0</Desc>
+            <AssignActivate>#x300</AssignActivate>
+            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+            <ShiftTimeSync0>0</ShiftTimeSync0>
+            <CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+            <ShiftTimeSync1>0</ShiftTimeSync1>
+          </OpMode>
+          <OpMode>
+            <Name>Free-run</Name>
+            <Desc>DC unused</Desc>
+            <AssignActivate>#x0000</AssignActivate>
+          </OpMode>
+        </Dc>
+        <Eeprom>
+          <ByteSize>2048</ByteSize>
+          <ConfigData>080C0244320000000000</ConfigData>
+        </Eeprom>
+        <Image16x14>DRIVE</Image16x14>
+      </Device>
+    </Devices>
+  </Descriptions>
+</EtherCATInfo>
\ No newline at end of file
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/ethercat/wago_higen/ethercat@etherlab/modules/modules_extra_params.cfg	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,2 @@
+Vendor;product_code;revision_number;pdo_alignment;max_pdo_size;add_pdo
+1573;1768449365;3;16;10;
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/ethercat/wago_higen/plc.xml	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,1049 @@
+<?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>
+        <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="356" y="173"/>
+              <inputVariables>
+                <variable formalParameter="Axis">
+                  <connectionPointIn>
+                    <relPosition x="0" y="38"/>
+                    <connection refLocalId="9">
+                      <position x="356" y="211"/>
+                      <position x="324" y="211"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="Enable">
+                  <connectionPointIn>
+                    <relPosition x="0" y="74"/>
+                    <connection refLocalId="7" formalParameter="OUT">
+                      <position x="356" 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="288" 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="992" y="173"/>
+              <inputVariables>
+                <variable formalParameter="Axis">
+                  <connectionPointIn>
+                    <relPosition x="0" y="38"/>
+                    <connection refLocalId="42" formalParameter="Axis">
+                      <position x="992" y="211"/>
+                      <position x="853" y="211"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="Execute">
+                  <connectionPointIn>
+                    <relPosition x="0" y="74"/>
+                    <connection refLocalId="42" formalParameter="Done">
+                      <position x="992" y="247"/>
+                      <position x="853" 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="992" y="319"/>
+                      <position x="920" y="319"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="Velocity">
+                  <connectionPointIn>
+                    <relPosition x="0" y="182"/>
+                    <connection refLocalId="12">
+                      <position x="992" y="355"/>
+                      <position x="919" y="355"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="Acceleration">
+                  <connectionPointIn>
+                    <relPosition x="0" y="218"/>
+                    <connection refLocalId="12">
+                      <position x="992" y="391"/>
+                      <position x="955" y="391"/>
+                      <position x="955" y="355"/>
+                      <position x="919" y="355"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="Deceleration">
+                  <connectionPointIn>
+                    <relPosition x="0" y="254"/>
+                    <connection refLocalId="12">
+                      <position x="992" y="427"/>
+                      <position x="955" y="427"/>
+                      <position x="955" y="355"/>
+                      <position x="919" 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="878" y="306"/>
+              <connectionPointOut>
+                <relPosition x="54" y="13"/>
+              </connectionPointOut>
+              <expression>1800.0</expression>
+            </inVariable>
+            <inVariable localId="12" height="27" width="46">
+              <position x="885" y="342"/>
+              <connectionPointOut>
+                <relPosition x="46" y="13"/>
+              </connectionPointOut>
+              <expression>360.0</expression>
+            </inVariable>
+            <block localId="23" width="255" height="352" typeName="MC_MoveVelocity" instanceName="MC_MoveVelocity0">
+              <position x="1418" y="173"/>
+              <inputVariables>
+                <variable formalParameter="Axis">
+                  <connectionPointIn>
+                    <relPosition x="0" y="38"/>
+                    <connection refLocalId="10" formalParameter="Axis">
+                      <position x="1418" y="211"/>
+                      <position x="1244" y="211"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="Execute">
+                  <connectionPointIn>
+                    <relPosition x="0" y="74"/>
+                    <connection refLocalId="10" formalParameter="Done">
+                      <position x="1418" y="247"/>
+                      <position x="1244" y="247"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="ContinuousUpdate">
+                  <connectionPointIn>
+                    <relPosition x="0" y="110"/>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="Velocity">
+                  <connectionPointIn>
+                    <relPosition x="0" y="146"/>
+                    <connection refLocalId="24">
+                      <position x="1418" y="319"/>
+                      <position x="1349" y="319"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="Acceleration">
+                  <connectionPointIn>
+                    <relPosition x="0" y="182"/>
+                    <connection refLocalId="13">
+                      <position x="1418" y="355"/>
+                      <position x="1349" y="355"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="Deceleration">
+                  <connectionPointIn>
+                    <relPosition x="0" y="218"/>
+                    <connection refLocalId="13">
+                      <position x="1418" y="391"/>
+                      <position x="1383" y="391"/>
+                      <position x="1383" y="355"/>
+                      <position x="1349" y="355"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="Jerk">
+                  <connectionPointIn>
+                    <relPosition x="0" y="254"/>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="Direction">
+                  <connectionPointIn>
+                    <relPosition x="0" y="290"/>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="BufferMode">
+                  <connectionPointIn>
+                    <relPosition x="0" y="326"/>
+                  </connectionPointIn>
+                </variable>
+              </inputVariables>
+              <inOutVariables/>
+              <outputVariables>
+                <variable formalParameter="Axis">
+                  <connectionPointOut>
+                    <relPosition x="255" y="38"/>
+                  </connectionPointOut>
+                </variable>
+                <variable formalParameter="InVelocity">
+                  <connectionPointOut>
+                    <relPosition x="255" y="74"/>
+                  </connectionPointOut>
+                </variable>
+                <variable formalParameter="Busy">
+                  <connectionPointOut>
+                    <relPosition x="255" y="110"/>
+                  </connectionPointOut>
+                </variable>
+                <variable formalParameter="Active">
+                  <connectionPointOut>
+                    <relPosition x="255" y="146"/>
+                  </connectionPointOut>
+                </variable>
+                <variable formalParameter="CommandAborted">
+                  <connectionPointOut>
+                    <relPosition x="255" y="182"/>
+                  </connectionPointOut>
+                </variable>
+                <variable formalParameter="Error">
+                  <connectionPointOut>
+                    <relPosition x="255" y="218"/>
+                  </connectionPointOut>
+                </variable>
+                <variable formalParameter="ErrorID">
+                  <connectionPointOut>
+                    <relPosition x="255" y="254"/>
+                  </connectionPointOut>
+                </variable>
+              </outputVariables>
+            </block>
+            <inVariable localId="13" height="27" width="46">
+              <position x="1303" y="342"/>
+              <connectionPointOut>
+                <relPosition x="46" y="13"/>
+              </connectionPointOut>
+              <expression>360.0</expression>
+            </inVariable>
+            <inVariable localId="24" height="27" width="46">
+              <position x="1303" y="306"/>
+              <connectionPointOut>
+                <relPosition x="46" y="13"/>
+              </connectionPointOut>
+              <expression>-360.0</expression>
+            </inVariable>
+            <block localId="25" width="235" height="350" typeName="MC_MoveAbsolute" instanceName="MC_MoveAbsolute0">
+              <position x="1862" y="175"/>
+              <inputVariables>
+                <variable formalParameter="Axis">
+                  <connectionPointIn>
+                    <relPosition x="0" y="36"/>
+                    <connection refLocalId="23" formalParameter="Axis">
+                      <position x="1862" y="211"/>
+                      <position x="1673" y="211"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="Execute">
+                  <connectionPointIn>
+                    <relPosition x="0" y="69"/>
+                    <connection refLocalId="26" formalParameter="OUT">
+                      <position x="1862" y="244"/>
+                      <position x="1825" y="244"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="ContinuousUpdate">
+                  <connectionPointIn>
+                    <relPosition x="0" y="102"/>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="Position">
+                  <connectionPointIn>
+                    <relPosition x="0" y="135"/>
+                    <connection refLocalId="40">
+                      <position x="1862" y="310"/>
+                      <position x="1809" y="310"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="Velocity">
+                  <connectionPointIn>
+                    <relPosition x="0" y="168"/>
+                    <connection refLocalId="37">
+                      <position x="1862" y="343"/>
+                      <position x="1808" y="343"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="Acceleration">
+                  <connectionPointIn>
+                    <relPosition x="0" y="201"/>
+                    <connection refLocalId="37">
+                      <position x="1862" y="376"/>
+                      <position x="1818" y="376"/>
+                      <position x="1818" y="343"/>
+                      <position x="1808" y="343"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="Deceleration">
+                  <connectionPointIn>
+                    <relPosition x="0" y="234"/>
+                    <connection refLocalId="37">
+                      <position x="1862" y="409"/>
+                      <position x="1818" y="409"/>
+                      <position x="1818" y="343"/>
+                      <position x="1808" y="343"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="Jerk">
+                  <connectionPointIn>
+                    <relPosition x="0" y="267"/>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="Direction">
+                  <connectionPointIn>
+                    <relPosition x="0" y="300"/>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="BufferMode">
+                  <connectionPointIn>
+                    <relPosition x="0" y="333"/>
+                  </connectionPointIn>
+                </variable>
+              </inputVariables>
+              <inOutVariables/>
+              <outputVariables>
+                <variable formalParameter="Axis">
+                  <connectionPointOut>
+                    <relPosition x="235" y="36"/>
+                  </connectionPointOut>
+                </variable>
+                <variable formalParameter="Done">
+                  <connectionPointOut>
+                    <relPosition x="235" y="69"/>
+                  </connectionPointOut>
+                </variable>
+                <variable formalParameter="Busy">
+                  <connectionPointOut>
+                    <relPosition x="235" y="102"/>
+                  </connectionPointOut>
+                </variable>
+                <variable formalParameter="Active">
+                  <connectionPointOut>
+                    <relPosition x="235" y="135"/>
+                  </connectionPointOut>
+                </variable>
+                <variable formalParameter="CommandAborted">
+                  <connectionPointOut>
+                    <relPosition x="235" y="168"/>
+                  </connectionPointOut>
+                </variable>
+                <variable formalParameter="Error">
+                  <connectionPointOut>
+                    <relPosition x="235" y="201"/>
+                  </connectionPointOut>
+                </variable>
+                <variable formalParameter="ErrorID">
+                  <connectionPointOut>
+                    <relPosition x="235" y="234"/>
+                  </connectionPointOut>
+                </variable>
+              </outputVariables>
+            </block>
+            <block localId="26" width="53" height="63" typeName="LT">
+              <position x="1772" y="214"/>
+              <inputVariables>
+                <variable formalParameter="IN1">
+                  <connectionPointIn>
+                    <relPosition x="0" y="30"/>
+                    <connection refLocalId="36">
+                      <position x="1772" y="244"/>
+                      <position x="1752" y="244"/>
+                      <position x="1752" y="237"/>
+                      <position x="1741" y="237"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="IN2">
+                  <connectionPointIn>
+                    <relPosition x="0" y="51"/>
+                    <connection refLocalId="35">
+                      <position x="1772" y="265"/>
+                      <position x="1741" y="265"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+              </inputVariables>
+              <inOutVariables/>
+              <outputVariables>
+                <variable formalParameter="OUT">
+                  <connectionPointOut>
+                    <relPosition x="53" y="30"/>
+                  </connectionPointOut>
+                </variable>
+              </outputVariables>
+            </block>
+            <block localId="28" width="176" height="248" typeName="MC_ReadActualPosition" instanceName="readpos">
+              <position x="237" y="606"/>
+              <inputVariables>
+                <variable formalParameter="Axis">
+                  <connectionPointIn>
+                    <relPosition x="0" y="40"/>
+                    <connection refLocalId="31">
+                      <position x="237" y="646"/>
+                      <position x="109" y="646"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="Enable">
+                  <connectionPointIn>
+                    <relPosition x="0" y="80"/>
+                    <connection refLocalId="29">
+                      <position x="237" y="686"/>
+                      <position x="165" y="686"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+              </inputVariables>
+              <inOutVariables/>
+              <outputVariables>
+                <variable formalParameter="Axis">
+                  <connectionPointOut>
+                    <relPosition x="176" y="40"/>
+                  </connectionPointOut>
+                </variable>
+                <variable formalParameter="Valid">
+                  <connectionPointOut>
+                    <relPosition x="176" y="80"/>
+                  </connectionPointOut>
+                </variable>
+                <variable formalParameter="Busy">
+                  <connectionPointOut>
+                    <relPosition x="176" y="112"/>
+                  </connectionPointOut>
+                </variable>
+                <variable formalParameter="Error">
+                  <connectionPointOut>
+                    <relPosition x="176" y="152"/>
+                  </connectionPointOut>
+                </variable>
+                <variable formalParameter="ErrorID">
+                  <connectionPointOut>
+                    <relPosition x="176" y="192"/>
+                  </connectionPointOut>
+                </variable>
+                <variable formalParameter="Position">
+                  <connectionPointOut>
+                    <relPosition x="176" y="232"/>
+                  </connectionPointOut>
+                </variable>
+              </outputVariables>
+            </block>
+            <inVariable localId="29" height="32" width="96">
+              <position x="69" y="670"/>
+              <connectionPointOut>
+                <relPosition x="96" y="16"/>
+              </connectionPointOut>
+              <expression>BOOL#TRUE</expression>
+            </inVariable>
+            <outVariable localId="30" height="32" width="32">
+              <position x="437" y="822"/>
+              <connectionPointIn>
+                <relPosition x="0" y="16"/>
+                <connection refLocalId="28" formalParameter="Position">
+                  <position x="437" y="838"/>
+                  <position x="413" y="838"/>
+                </connection>
+              </connectionPointIn>
+              <expression>Pn</expression>
+            </outVariable>
+            <inVariable localId="31" height="32" width="40">
+              <position x="69" y="630"/>
+              <connectionPointOut>
+                <relPosition x="40" y="16"/>
+              </connectionPointOut>
+              <expression>Axis</expression>
+            </inVariable>
+            <block localId="32" width="192" height="248" typeName="MC_ReadParameter" instanceName="readspeed">
+              <position x="613" y="606"/>
+              <inputVariables>
+                <variable formalParameter="Axis">
+                  <connectionPointIn>
+                    <relPosition x="0" y="40"/>
+                    <connection refLocalId="28" formalParameter="Axis">
+                      <position x="613" y="646"/>
+                      <position x="413" y="646"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="Enable">
+                  <connectionPointIn>
+                    <relPosition x="0" y="80"/>
+                    <connection refLocalId="34">
+                      <position x="613" y="686"/>
+                      <position x="597" y="686"/>
+                      <position x="597" y="679"/>
+                      <position x="581" y="679"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+                <variable formalParameter="ParameterNumber">
+                  <connectionPointIn>
+                    <relPosition x="0" y="112"/>
+                    <connection refLocalId="33">
+                      <position x="613" y="718"/>
+                      <position x="581" y="718"/>
+                    </connection>
+                  </connectionPointIn>
+                </variable>
+              </inputVariables>
+              <inOutVariables/>
+              <outputVariables>
+                <variable formalParameter="Axis">
+                  <connectionPointOut>
+                    <relPosition x="192" y="40"/>
+                  </connectionPointOut>
+                </variable>
+                <variable formalParameter="Valid">
+                  <connectionPointOut>
+                    <relPosition x="192" y="80"/>
+                  </connectionPointOut>
+                </variable>
+                <variable formalParameter="Busy">
+                  <connectionPointOut>
+                    <relPosition x="192" y="112"/>
+                  </connectionPointOut>
+                </variable>
+                <variable formalParameter="Error">
+                  <connectionPointOut>
+                    <relPosition x="192" y="152"/>
+                  </connectionPointOut>
+                </variable>
+                <variable formalParameter="ErrorID">
+                  <connectionPointOut>
+                    <relPosition x="192" y="192"/>
+                  </connectionPointOut>
+                </variable>
+                <variable formalParameter="Value">
+                  <connectionPointOut>
+                    <relPosition x="192" y="232"/>
+                  </connectionPointOut>
+                </variable>
+              </outputVariables>
+            </block>
+            <inVariable localId="33" height="32" width="32">
+              <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>
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/ethercat/wago_sanyo/beremiz.xml	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<BeremizRoot>
+  <TargetType>
+    <Xenomai/>
+  </TargetType>
+</BeremizRoot>
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/ethercat/wago_sanyo/ethercat@etherlab/baseconfnode.xml	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<BaseParams Name="ethercat" IEC_Channel="0"/>
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/ethercat/wago_sanyo/ethercat@etherlab/confnode.xml	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<EtherlabInstance/>
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/baseconfnode.xml	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<BaseParams Name="master" IEC_Channel="0"/>
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/config.xml	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,60 @@
+<?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>
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/confnode.xml	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<EtherlabNode/>
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/coupler@EthercatSlave/baseconfnode.xml	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<BaseParams Name="coupler" IEC_Channel="0"/>
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/coupler@EthercatSlave/confnode.xml	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<SlaveParams/>
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/inputs@EthercatSlave/baseconfnode.xml	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<BaseParams Name="inputs" IEC_Channel="1"/>
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/inputs@EthercatSlave/confnode.xml	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<SlaveParams/>
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/outputs@EthercatSlave/baseconfnode.xml	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<BaseParams Name="outputs" IEC_Channel="2"/>
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/outputs@EthercatSlave/confnode.xml	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<SlaveParams/>
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/sanyo@EthercatCIA402Slave/baseconfnode.xml	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<BaseParams Name="sanyo" IEC_Channel="3"/>
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/ethercat/wago_sanyo/ethercat@etherlab/master@EthercatNode/sanyo@EthercatCIA402Slave/confnode.xml	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<CIA402SlaveParams DynamicPDOs="false" RatioNumerator="65536" RatioDenominator="180" PositionOffset="0"/>
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/ethercat/wago_sanyo/ethercat@etherlab/modules/Beckhoff EKxxxx.xml	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,776 @@
+<?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>
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+					<Name>Channel 5</Name>
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+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1609</Index>
+					<Name>Channel 6</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 7</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 8</Name>
+					<Entry>
+						<Index>#x70B0</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>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>040D00000A003000	
+</ConfigData>
+				</Eeprom>
+				<ImageData16x14>424DD6020000000000003600000028000000100000000E0000000100180000000000A0020000C40E0000C40E00000000000000000000FF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080808080808080808080808080808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000BFFF00BFFFC0C0C0808080C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000BFFF00BFFFC0C0C0808080C0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000BFFF00BFFFC0C0C0808080C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000BFFF00BFFFC0C0C0808080C0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000BFFF00BFFFC0C0C0808080C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000BFFF00BFFFC0C0C0808080C0C0C0000000C0C0C0000000808080007FFF007FFF007FFF007FFF007FFFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0C0C0C0C0C0C0C0C0C0808080007FFF007FFF007FFF007FFF007FFFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0C0C0C0C0C0C0C0C0C0808080007FFF007FFF007FFF007FFF007FFFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0008000C0C0C0008000808080007FFF007FFF007FFF007FFF007FFFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0C0C0C0C0C0C0C0C0C0808080007FFF007FFF007FFF007FFF007FFF</ImageData16x14>
+			</Device>
+			<Device Physics="YKY">
+				<Type ProductCode="#x044C6032" RevisionNo="#x00000004">CX1100-0004</Type>
+				<Name LcId="1033"><![CDATA[CX1100-0004 EtherCAT Power supply (2A E-Bus)]]></Name>
+				<Name LcId="1031"><![CDATA[CX1100-0004 EtherCAT Netzteil (2A E-Bus)]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/CX]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/CX]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>-2000</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>SystemBk</GroupType>
+				<Eeprom>
+					<ByteSize>256</ByteSize>
+					<ConfigData>0001</ConfigData>
+				</Eeprom>
+				<ImageData16x14>424DD6020000000000003600000028000000100000000E0000000100180000000000A0020000C40E0000C40E00000000000000000000FF00FFFF00FFFF00FFFF00FF404040404040808080808080808080808080808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C000FFFFC0C0C000FFFF808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C0FF0000C0C0C0FF0000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C00000FFC0C0C00000FF808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C0008000C0C0C0008000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FF</ImageData16x14>
+			</Device>
+			<Device Physics="YK">
+				<Type ProductCode="#x044C6032" RevisionNo="#x00010004">CX1100-0004</Type>
+				<HideType RevisionNo="#x00000004"/>
+				<Name LcId="1033"><![CDATA[CX1100-0004 EtherCAT Power supply (2A E-Bus)]]></Name>
+				<Name LcId="1031"><![CDATA[CX1100-0004 EtherCAT Netzteil (2A E-Bus)]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/CX]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/CX]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>-2000</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>SystemBk</GroupType>
+				<Eeprom>
+					<ByteSize>256</ByteSize>
+					<ConfigData>0001</ConfigData>
+				</Eeprom>
+				<ImageData16x14>424DD6020000000000003600000028000000100000000E0000000100180000000000A0020000C40E0000C40E00000000000000000000FF00FFFF00FFFF00FFFF00FF404040404040808080808080808080808080808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C000FFFFC0C0C000FFFF808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C0FF0000C0C0C0FF0000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C00000FFC0C0C00000FF808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C0008000C0C0C0008000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF404040404040C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FF</ImageData16x14>
+			</Device>
+		</Devices>
+	</Descriptions>
+</EtherCATInfo>
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/ethercat/wago_sanyo/ethercat@etherlab/modules/Beckhoff EL1xxx.xml	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,5333 @@
+<?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="310">
+				<Type>DigIn</Type>
+				<Name LcId="1033">Digital Input Terminals (EL1xxx)</Name>
+				<Name LcId="1031">Digitale Eingangsklemmen (EL1xxx)</Name>
+				<ImageData16x14>424DD6020000000000003600000028000000100000000E0000000100180000000000A0020000C40E0000C40E00000000000000000000FF00FFFF00FFFF00FFFF00FFFF00FFFF00FF808080808080808080808080808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000FFFFC0C0C000FFFF808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0FF0000C0C0C0FF0000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFFC0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFFC0C0C00000FFC0C0C00000FF808080FF00FFFF00FFFF00FFFF00FFFF00FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFFC0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFFC0C0C0008000C0C0C0008000808080FF00FFFF00FFFF00FFFF00FFFF00FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FF</ImageData16x14>
+			</Group>
+		</Groups>
+		<Devices>
+			<Device Physics="KK">
+				<Type ProductCode="#x03ea3052" RevisionNo="#x00000000">EL1002</Type>
+				<HideType RevisionNo="#x27070000" ProductRevision="EL1002-0000-9991"/>
+				<HideType RevisionNo="#x27080000" ProductRevision="EL1002-0000-9992"/>
+				<HideType RevisionNo="#x270b0000" ProductRevision="EL1002-0000-9995"/>
+				<Name LcId="1033"><![CDATA[EL1002 2Ch. Dig. Input 24V, 3ms]]></Name>
+				<Name LcId="1031"><![CDATA[EL1002 2K. Dig. Eingang 24V, 3ms]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1002]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1002]]></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="#x03ea3052" RevisionNo="#x00100000">EL1002</Type>
+				<HideType RevisionNo="#x00000000" ProductRevision="EL1002-0000-0000"/>
+				<Name LcId="1033"><![CDATA[EL1002 2Ch. Dig. Input 24V, 3ms]]></Name>
+				<Name LcId="1031"><![CDATA[EL1002 2K. Dig. Eingang 24V, 3ms]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1002]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1002]]></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="#x03ec3052" RevisionNo="#x00000000">EL1004</Type>
+				<HideType RevisionNo="#x27070000" ProductRevision="EL1004-0000-9991"/>
+				<HideType RevisionNo="#x27080000" ProductRevision="EL1004-0000-9992"/>
+				<HideType RevisionNo="#x270b0000" ProductRevision="EL1004-0000-9995"/>
+				<Name LcId="1033"><![CDATA[EL1004 4Ch. Dig. Input 24V, 3ms]]></Name>
+				<Name LcId="1031"><![CDATA[EL1004 4K. Dig. Eingang 24V, 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>
+				<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="#x03ec3052" RevisionNo="#x00100000">EL1004</Type>
+				<HideType RevisionNo="#x00000000" ProductRevision="EL1004-0000-0000"/>
+				<Name LcId="1033"><![CDATA[EL1004 4Ch. Dig. Input 24V, 3ms]]></Name>
+				<Name LcId="1031"><![CDATA[EL1004 4K. Dig. Eingang 24V, 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>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="#x03EC3052" RevisionNo="#x0000000A">EL1004-0010</Type>
+				<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>
+				<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="#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>
+						<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="#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>
+						<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="#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>
+						<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="#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>
+				<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="#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>
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+				<TxPdo Fixed="1" Su="1" Virtual="true">
+					<Index>#x1a10</Index>
+					<Name>Latch</Name>
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+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Sm="0" Su="0" Mandatory="1">
+					<Index>#x1a02</Index>
+					<Name>Reserved</Name>
+				</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>0401400000000000</ConfigData>
+				</Eeprom>
+				<VendorSpecific>
+					<TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
+				</VendorSpecific>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x04E43052" RevisionNo="#x00120000">EL1252</Type>
+				<HideType RevisionNo="#x00110000" ProductRevision="EL1252-0000-0011"/>
+				<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>
+					<VendorSpecific>
+						<TwinCAT>
+							<AlternativeSmMapping Default="1">
+								<Name>Standard (MDP 125)</Name>
+								<Sm No="0">
+									<Pdo>#x1a00</Pdo>
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+							<AlternativeSmMapping>
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+					</VendorSpecific>
+				</Info>
+				<GroupType>DigIn</GroupType>
+				<Profile>
+					<ProfileNo>5001</ProfileNo>
+					<AddInfo>125</AddInfo>
+					<ChannelCount>2</ChannelCount>
+				</Profile>
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+				<Sm StartAddress="#x09ae" Virtual="true">Inputs</Sm>
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+						<ShiftTimeSync0>0</ShiftTimeSync0>
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+				<VendorSpecific>
+					<TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
+				</VendorSpecific>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x04E43052" RevisionNo="#x00130000">EL1252</Type>
+				<HideType RevisionNo="#x00110000"/>
+				<HideType RevisionNo="#x00120000"/>
+				<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>
+					<VendorSpecific>
+						<TwinCAT>
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+									<Pdo>#x1a00</Pdo>
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+				<GroupType>DigIn</GroupType>
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+						<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>
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+					</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>
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+					<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>
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+					</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>
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+					</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="#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>
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+						<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>
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+					<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>
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+						<Name>Status1</Name>
+						<DataType>USINT</DataType>
+					</Entry>
+					<Entry>
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+					<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>
+					<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"/>
+				<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="#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>
+					<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="#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>
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/ethercat/wago_sanyo/ethercat@etherlab/modules/Beckhoff EL2xxx.xml	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,92654 @@
+<?xml version="1.0"?>
+<EtherCATInfo xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd" Version="1.2">
+	<Vendor>
+		<Id>2</Id>
+		<Name>Beckhoff Automation GmbH</Name>
+		<ImageData16x14>424DE6000000000000007600000028000000100000000E000000010004000000000070000000120B0000120B0000100000001000000000000000000080000080000000808000800000008000800080800000C0C0C000808080000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF009D9DD99DD9DDD9DD9D9D9DD9D9DDD9DD999D9DD9D999D9999D9D9DD9D9DDD9DD9D9DD99DD999D999DDDDDDDDDDDDDDDD88888888888888888888888888888888DDDDDDDDDDDDDDDD999D999DD99DD9D99D9D9DDD9DD9D9D999DD999D9DDDD99D9D9D9DDD9DD9D99D999D999DD99DD9D9</ImageData16x14>
+	</Vendor>
+	<Descriptions>
+		<Groups>
+			<Group SortOrder="320">
+				<Type>DigOut</Type>
+				<Name LcId="1033">Digital Output Terminals (EL2xxx)</Name>
+				<Name LcId="1031">Digitale Ausgangklemmen (EL2xxx)</Name>
+				<ImageData16x14>424DD6020000000000003600000028000000100000000E0000000100180000000000A0020000120B0000120B00000000000000000000FF00FFFF00FFFF00FFFF00FFFF00FFFF00FF808080808080808080808080808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000FFFFC0C0C000FFFF808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0FF0000C0C0C0FF0000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FF0000FF0000FF0000FF0000FF0000FF0000FFC0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FF0000FF0000FF0000FF0000FF0000FF0000FFC0C0C00000FFC0C0C00000FF808080FF00FFFF00FFFF00FFFF00FFFF00FF0000FF0000FF0000FF0000FF0000FF0000FFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FF0000FF0000FF0000FF0000FF0000FF0000FFC0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FF0000FF0000FF0000FF0000FF0000FF0000FFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FF0000FF0000FF0000FF0000FF0000FF0000FFC0C0C0008000C0C0C0008000808080FF00FFFF00FFFF00FFFF00FFFF00FF0000FF0000FF0000FF0000FF0000FF0000FFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FF</ImageData16x14>
+			</Group>
+		</Groups>
+		<Devices>
+			<Device Physics="KK">
+				<Type ProductCode="#x07d23052" RevisionNo="#x00000000">EL2002</Type>
+				<HideType RevisionNo="#x27070000" ProductRevision="EL2002-0000-9991"/>
+				<HideType RevisionNo="#x27080000" ProductRevision="EL2002-0000-9992"/>
+				<HideType RevisionNo="#x270b0000" ProductRevision="EL2002-0000-9995"/>
+				<Name LcId="1033"><![CDATA[EL2002 2Ch. Dig. Output 24V, 0.5A]]></Name>
+				<Name LcId="1031"><![CDATA[EL2002 2K. Dig. Ausgang 24V, 0.5A]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2002]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2002]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x3001</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x3001</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0201</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x07d23052" RevisionNo="#x00100000">EL2002</Type>
+				<HideType RevisionNo="#x00000000" ProductRevision="EL2002-0000-0000"/>
+				<Name LcId="1033"><![CDATA[EL2002 2Ch. Dig. Output 24V, 0.5A]]></Name>
+				<Name LcId="1031"><![CDATA[EL2002 2K. Dig. Ausgang 24V, 0.5A]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2002]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2002]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>100</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x07d43052" RevisionNo="#x00000000">EL2004</Type>
+				<HideType RevisionNo="#x27070000" ProductRevision="EL2004-0000-9991"/>
+				<HideType RevisionNo="#x27080000" ProductRevision="EL2004-0000-9992"/>
+				<HideType RevisionNo="#x270b0000" ProductRevision="EL2004-0000-9995"/>
+				<Name LcId="1033"><![CDATA[EL2004 4Ch. Dig. Output 24V, 0.5A]]></Name>
+				<Name LcId="1031"><![CDATA[EL2004 4K. Dig. Ausgang 24V, 0.5A]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2004]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2004]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x3001</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x3001</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x3001</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x3001</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0201</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x07d43052" RevisionNo="#x00100000">EL2004</Type>
+				<HideType RevisionNo="#x00000000" ProductRevision="EL2004-0000-0000"/>
+				<Name LcId="1033"><![CDATA[EL2004 4Ch. Dig. Output 24V, 0.5A]]></Name>
+				<Name LcId="1031"><![CDATA[EL2004 4K. Dig. Ausgang 24V, 0.5A]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2004]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2004]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>100</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x07d83052" RevisionNo="#x00100000">EL2008</Type>
+				<Name LcId="1033"><![CDATA[EL2008 8Ch. Dig. Output 24V, 0.5A]]></Name>
+				<Name LcId="1031"><![CDATA[EL2008 8K. Dig. Ausgang 24V, 0.5A]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2008]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2008]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>110</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1604</Index>
+					<Name>Channel 5</Name>
+					<Entry>
+						<Index>#x7040</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1605</Index>
+					<Name>Channel 6</Name>
+					<Entry>
+						<Index>#x7050</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1606</Index>
+					<Name>Channel 7</Name>
+					<Entry>
+						<Index>#x7060</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1607</Index>
+					<Name>Channel 8</Name>
+					<Entry>
+						<Index>#x7070</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x07e63052" RevisionNo="#x00100000">EL2022</Type>
+				<Name LcId="1033"><![CDATA[EL2022 2Ch. Dig. Output 24V, 2A]]></Name>
+				<Name LcId="1031"><![CDATA[EL2022 2K. Dig. Ausgang 24V, 2A]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2202]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2202]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>100</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x07e83052" RevisionNo="#x00100000">EL2024</Type>
+				<Name LcId="1033"><![CDATA[EL2024 4Ch. Dig. Output 24V, 2A]]></Name>
+				<Name LcId="1031"><![CDATA[EL2024 4K. Dig. Ausgang 24V, 2A]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2024]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2024]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>120</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x07e83052" RevisionNo="#x0010000A">EL2024-0010</Type>
+				<Name LcId="1033"><![CDATA[EL2024-0010 4Ch. Dig. Output 12V, 2A]]></Name>
+				<Name LcId="1031"><![CDATA[EL2024-0010 4K. Dig. Ausgang 12V, 2A]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2024]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2024]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>120</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm DefaultSize="1" StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x07f03052" RevisionNo="#x00000000">EL2032</Type>
+				<HideType RevisionNo="#x27070000" ProductRevision="EL2032-0000-9991"/>
+				<HideType RevisionNo="#x27080000" ProductRevision="EL2032-0000-9992"/>
+				<HideType RevisionNo="#x270b0000" ProductRevision="EL2032-0000-9995"/>
+				<Name LcId="1033"><![CDATA[EL2032 2Ch. Dig. Output 24V, 2A Diag]]></Name>
+				<Name LcId="1031"><![CDATA[EL2032 2K. Dig. Ausgang 24V, 2A Diag]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2032]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2032]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>120</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Sm StartAddress="#x1000" ControlByte="0" Enable="0">Inputs</Sm>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x3001</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x3001</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1a00</Index>
+					<Name>Diag 1</Name>
+					<Entry>
+						<Index>#x3101</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Diag</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1a01</Index>
+					<Name>Diag 2</Name>
+					<Entry>
+						<Index>#x3101</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Diag</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0301</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x07f03052" RevisionNo="#x00100000">EL2032</Type>
+				<HideType RevisionNo="#x00000000" ProductRevision="EL2032-0000-0000"/>
+				<Name LcId="1033"><![CDATA[EL2032 2Ch. Dig. Output 24V, 2A, Diagnostic]]></Name>
+				<Name LcId="1031"><![CDATA[EL2032 2K. Dig. Ausgang 24V, 2A, Diagnose]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2032]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2032]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>100</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Sm StartAddress="#x1000" ControlByte="0" Enable="0">Inputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1a00</Index>
+					<Name>Diag 1</Name>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Diag</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1a01</Index>
+					<Name>Diag 2</Name>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Diag</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>04010400</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x07f23052" RevisionNo="#x00100000">EL2034</Type>
+				<Name LcId="1033"><![CDATA[EL2034 4Ch. Dig. Output 24V, 2A, Diagnostic]]></Name>
+				<Name LcId="1031"><![CDATA[EL2034 4K. Dig. Ausgang 24V, 2A, Diagnose]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2034]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2034]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>120</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Sm StartAddress="#x1001" ControlByte="0" Enable="0">Inputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1a00</Index>
+					<Name>Diag 1</Name>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Diag</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1a01</Index>
+					<Name>Diag 2</Name>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Diag</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1a02</Index>
+					<Name>Diag 3</Name>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Diag</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1a03</Index>
+					<Name>Diag 4</Name>
+					<Entry>
+						<Index>#x6030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Diag</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x07fa3052" RevisionNo="#x00100000">EL2042</Type>
+				<Name LcId="1033"><![CDATA[EL2042 2Ch. Dig. Output 24V, 4A]]></Name>
+				<Name LcId="1031"><![CDATA[EL2042 2K. Dig. Ausgang 24V, 4A]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2042]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2042]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>120</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x08243052" RevisionNo="#x00100000">EL2084</Type>
+				<Name LcId="1033"><![CDATA[EL2084 4Ch. Dig. Output 24V, 0.5A, switching to negative]]></Name>
+				<Name LcId="1031"><![CDATA[EL2084 4K. Dig. Ausgang 24V, 0.5A, negativ schaltend]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2084]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2084]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>100</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x08283052" RevisionNo="#x00100000">EL2088</Type>
+				<Name LcId="1033"><![CDATA[EL2088 8Ch. Dig. Output 24V, 0.5A, switching to negative]]></Name>
+				<Name LcId="1031"><![CDATA[EL2088 8K. Dig. Ausgang 24V, 0.5A, negativ schaltend]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2088]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2088]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>110</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1604</Index>
+					<Name>Channel 5</Name>
+					<Entry>
+						<Index>#x7040</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1605</Index>
+					<Name>Channel 6</Name>
+					<Entry>
+						<Index>#x7050</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1606</Index>
+					<Name>Channel 7</Name>
+					<Entry>
+						<Index>#x7060</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1607</Index>
+					<Name>Channel 8</Name>
+					<Entry>
+						<Index>#x7070</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x084c3052" RevisionNo="#x00100000">EL2124</Type>
+				<Name LcId="1033"><![CDATA[EL2124 4Ch. Dig. Output 5V, 20mA]]></Name>
+				<Name LcId="1031"><![CDATA[EL2124 4K. Dig. Ausgang 5V, 20mA]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2124]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2124]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x089A3052" RevisionNo="#x00000000">EL2202</Type>
+				<Name LcId="1033"><![CDATA[EL2202 2Ch. Dig. Output 24V, 0.5A, DC Sync]]></Name>
+				<Name LcId="1031"><![CDATA[EL2202 2K. Dig. Ausgang 24V, 0.5A, DC Sync]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2202]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2202]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="true" Sm="0" Su="0">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x3001</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x3001</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Dc>
+					<OpMode>
+						<Name>DcOff</Name>
+						<Desc>DC unused</Desc>
+						<AssignActivate>#x0000</AssignActivate>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync</Name>
+						<Desc>DC Sync Settings</Desc>
+						<AssignActivate>#x0300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0201</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x089A3052" RevisionNo="#x00100000">EL2202</Type>
+				<HideType RevisionNo="#x00000000" ProductRevision="EL2202-0000-0000"/>
+				<AlternativeType RevisionNo="#x00100064"/>
+				<Name LcId="1033"><![CDATA[EL2202 2Ch. Dig. Output 24V, 0.5A]]></Name>
+				<Name LcId="1031"><![CDATA[EL2202 2K. Dig. Ausgang 24V, 0.5A]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2202]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2202]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="true" Sm="0" Su="0">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TriState</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TriState</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>040100000000FFFF</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x089A3052" RevisionNo="#x00100064">EL2202-0100</Type>
+				<AlternativeType RevisionNo="#x00100000"/>
+				<Name LcId="1033"><![CDATA[EL2202-0100 2Ch. Dig. Output 24V, 0.5A, DC Sync]]></Name>
+				<Name LcId="1031"><![CDATA[EL2202-0100 2K. Dig. Ausgang 24V, 0.5A, DC Sync]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2202]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2202]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="true" Sm="0" Su="0">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TriState</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TriState</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Dc>
+					<OpMode>
+						<Name>DcSync</Name>
+						<Desc>DC Sync Settings</Desc>
+						<AssignActivate>#x0300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>04018000000AFFFF</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x08CC3052" RevisionNo="#x00000000">EL2252</Type>
+				<Name LcId="1033"><![CDATA[EL2252 2Ch. Dig. Output 24V, 0.5A, DC Time Stamp]]></Name>
+				<Name LcId="1031"><![CDATA[EL2252 2K. Dig. Ausgang 24V, 0.5A, DC Time Stamp]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2252]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2252]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="true" Sm="0" Su="0">Outputs</Fmmu>
+				<Fmmu Sm="1" Su="1">Outputs</Fmmu>
+				<Fmmu Sm="2" Su="2">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Sm StartAddress="#x0981" Virtual="true">Outputs</Sm>
+				<Sm StartAddress="#x0990" Virtual="true">Outputs</Sm>
+				<RxPdo Fixed="1" Sm="1" Su="1" Virtual="true">
+					<Index>#x1610</Index>
+					<Name>DC Sync Activate</Name>
+					<Entry>
+						<Index>#x1d09</Index>
+						<SubIndex>#x81</SubIndex>
+						<BitLen>8</BitLen>
+						<Name>Activate</Name>
+						<DataType>USINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2" Su="2" Virtual="true">
+					<Index>#x1611</Index>
+					<Name>DC Sync Start</Name>
+					<Entry>
+						<Index>#x1d09</Index>
+						<SubIndex>#x90</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>StartTime</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x3001</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x3001</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Dc>
+					<OpMode>
+						<Name>DcTimeStamp</Name>
+						<Desc>DC Time Stamp Settings</Desc>
+						<AssignActivate>#x0300</AssignActivate>
+						<CycleTimeSync0 Factor="0">2000000000</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>04018000e8030100</ConfigData>
+				</Eeprom>
+				<VendorSpecific>
+					<TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
+				</VendorSpecific>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x08CC3052" RevisionNo="#x00100000">EL2252</Type>
+				<HideType RevisionNo="#x00000000" ProductRevision="EL2252-0000-0000"/>
+				<Name LcId="1033"><![CDATA[EL2252 2Ch. Dig. Output 24V, 0.5A, DC Time Stamp]]></Name>
+				<Name LcId="1031"><![CDATA[EL2252 2K. Dig. Ausgang 24V, 0.5A, DC Time Stamp]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2252]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2252]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu Sm="0" Su="0">Outputs</Fmmu>
+				<Fmmu Sm="1" Su="1">Outputs</Fmmu>
+				<Fmmu Sm="2" Su="2" OpOnly="true">Outputs</Fmmu>
+				<Sm StartAddress="#x0981" Virtual="true">Outputs</Sm>
+				<Sm StartAddress="#x0990" Virtual="true">Outputs</Sm>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Sm StartAddress="#x0910" Virtual="true">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="0" Su="0" Virtual="true">
+					<Index>#x1610</Index>
+					<Name>DC Sync Activate</Name>
+					<Entry>
+						<Index>#x1d09</Index>
+						<SubIndex>#x81</SubIndex>
+						<BitLen>8</BitLen>
+						<Name>Activate</Name>
+						<DataType>USINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1" Virtual="true">
+					<Index>#x1611</Index>
+					<Name>DC Sync Start</Name>
+					<Entry>
+						<Index>#x1d09</Index>
+						<SubIndex>#x90</SubIndex>
+						<BitLen>64</BitLen>
+						<Name>StartTime</Name>
+						<DataType>ULINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>16</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="2" Su="2">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x3001</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="2" Su="2">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x3001</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Su="0" Virtual="true">
+					<Index>#x1a00</Index>
+					<Name>SysTime</Name>
+					<Entry>
+						<Index>#x1d09</Index>
+						<SubIndex>#x10</SubIndex>
+						<BitLen>64</BitLen>
+						<Name>SysTime</Name>
+						<DataType>ULINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Dc>
+					<OpMode>
+						<Name>DcTimeStamp</Name>
+						<Desc>DC Time Stamp Settings</Desc>
+						<AssignActivate>#x0300</AssignActivate>
+						<CycleTimeSync0 Factor="0">2000000000</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>04018000e8030100</ConfigData>
+				</Eeprom>
+				<VendorSpecific>
+					<TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
+				</VendorSpecific>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x08CC3052" RevisionNo="#x00110000">EL2252</Type>
+				<HideType RevisionNo="#x00100000" ProductRevision="EL2252-0000-0016"/>
+				<Name LcId="1033"><![CDATA[EL2252 2Ch. Dig. Output 24V, 0.5A, DC Time Stamp]]></Name>
+				<Name LcId="1031"><![CDATA[EL2252 2K. Dig. Ausgang 24V, 0.5A, DC Time Stamp]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2252]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2252]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu Sm="0" Su="0">Outputs</Fmmu>
+				<Fmmu Sm="1" Su="1">Outputs</Fmmu>
+				<Fmmu Sm="2" Su="2" OpOnly="true">Outputs</Fmmu>
+				<Sm StartAddress="#x0981" Virtual="true">Outputs</Sm>
+				<Sm StartAddress="#x0990" Virtual="true">Outputs</Sm>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Sm StartAddress="#x0910" Virtual="true">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="0" Su="0" Virtual="true">
+					<Index>#x1602</Index>
+					<Name>DC Sync Activate</Name>
+					<Entry>
+						<Index>#x1d09</Index>
+						<SubIndex>#x81</SubIndex>
+						<BitLen>8</BitLen>
+						<Name>Activate</Name>
+						<DataType>USINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1" Virtual="true">
+					<Index>#x1603</Index>
+					<Name>DC Sync Start</Name>
+					<Entry>
+						<Index>#x1d09</Index>
+						<SubIndex>#x90</SubIndex>
+						<BitLen>64</BitLen>
+						<Name>StartTime</Name>
+						<DataType>ULINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2" Su="2" Mandatory="1">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TriState</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2" Su="2" Mandatory="1">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TriState</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2" Su="2" Mandatory="1">
+					<Index>#x1602</Index>
+					<Name>Reserved</Name>
+				</RxPdo>
+				<TxPdo Fixed="1" Su="0" Virtual="true">
+					<Index>#x1a00</Index>
+					<Name>SysTime</Name>
+					<Entry>
+						<Index>#x1d09</Index>
+						<SubIndex>#x10</SubIndex>
+						<BitLen>64</BitLen>
+						<Name>SysTime</Name>
+						<DataType>ULINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Dc>
+					<OpMode>
+						<Name>DcTimeStamp</Name>
+						<Desc>DC Time Stamp Settings</Desc>
+						<AssignActivate>#x0300</AssignActivate>
+						<CycleTimeSync0 Factor="0">2000000000</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>04018000e803FFFF</ConfigData>
+				</Eeprom>
+				<VendorSpecific>
+					<TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
+				</VendorSpecific>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x08CC3052" RevisionNo="#x00120000">EL2252</Type>
+				<HideType RevisionNo="#x00110000" ProductRevision="EL2252-0000-0011"/>
+				<Name LcId="1033"><![CDATA[EL2252 2Ch. Dig. Output 24V, 0.5A, DC Time Stamp]]></Name>
+				<Name LcId="1031"><![CDATA[EL2252 2K. Dig. Ausgang 24V, 0.5A, DC Time Stamp]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2252]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2252]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu Sm="0" Su="0">Outputs</Fmmu>
+				<Fmmu Sm="1" Su="1">Outputs</Fmmu>
+				<Fmmu Sm="2" Su="2" OpOnly="true">Outputs</Fmmu>
+				<Sm StartAddress="#x0981" Virtual="true">Outputs</Sm>
+				<Sm StartAddress="#x0990" Virtual="true">Outputs</Sm>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Sm StartAddress="#x0910" Virtual="true">Inputs</Sm>
+				<Sm StartAddress="#x1000" Virtual="true">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="0" Su="0" Virtual="true">
+					<Index>#x1602</Index>
+					<Name>DC Sync Activate</Name>
+					<Entry>
+						<Index>#x1d09</Index>
+						<SubIndex>#x81</SubIndex>
+						<BitLen>8</BitLen>
+						<Name>Activate</Name>
+						<DataType>USINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1" Virtual="true">
+					<Index>#x1603</Index>
+					<Name>DC Sync Start</Name>
+					<Entry>
+						<Index>#x1d09</Index>
+						<SubIndex>#x90</SubIndex>
+						<BitLen>64</BitLen>
+						<Name>StartTime</Name>
+						<DataType>ULINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2" Su="2" Mandatory="1">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TriState</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2" Su="2" Mandatory="1">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TriState</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2" Su="2" Mandatory="1">
+					<Index>#x1604</Index>
+					<Name>Reserved</Name>
+				</RxPdo>
+				<TxPdo Fixed="1" Su="0" Virtual="true">
+					<Index>#x1a00</Index>
+					<Name>SysTime</Name>
+					<Entry>
+						<Index>#x1d09</Index>
+						<SubIndex>#x10</SubIndex>
+						<BitLen>64</BitLen>
+						<Name>SysTime</Name>
+						<DataType>ULINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Su="1" Virtual="true">
+					<Index>#x1a01</Index>
+					<Name>Feedback</Name>
+					<Entry>
+						<Index>#x1d09</Index>
+						<SubIndex>#x11</SubIndex>
+						<BitLen>8</BitLen>
+						<Name>Feedback</Name>
+						<Comment>Bit 0: Output 1
+Bit 1: Tristate 1
+Bit 2: Output 2
+Bit 3: Tristate 2</Comment>
+						<DataType>USINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Dc>
+					<OpMode>
+						<Name>DcTimeStamp</Name>
+						<Desc>DC Time Stamp Settings</Desc>
+						<AssignActivate>#x0300</AssignActivate>
+						<CycleTimeSync0 Factor="0">2000000000</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>04018000e803FFFF</ConfigData>
+				</Eeprom>
+				<VendorSpecific>
+					<TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
+				</VendorSpecific>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x08D63052" RevisionNo="#x00000000">EL2262</Type>
+				<Name LcId="1033"><![CDATA[EL2262 2Ch. Dig. Output 24V, 0.5A, DC Over Sampling]]></Name>
+				<Name LcId="1031"><![CDATA[EL2262 2K. Dig. Ausgang 24V, 0.5A, DC Over Sampling]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2262]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2262]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="true" Sm="0" Su="0">Outputs</Fmmu>
+				<Sm StartAddress="#x1000" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<RxPdo Fixed="1" Sm="0">
+					<Index>#x1680</Index>
+					<Name>Cycle Counter</Name>
+					<Entry>
+						<Index>#x7800</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Cycle Counter</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" OSFac="10" OSMin="1" OSMax="100" OSIndexInc="8">
+					<Index>#x1600</Index>
+					<Name>Sample</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>8</BitLen>
+						<Name>Output</Name>
+						<DataType>BYTE</DataType>
+					</Entry>
+				</RxPdo>
+				<Dc>
+					<OpMode>
+						<Name>DcSync</Name>
+						<Desc>No oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1680</Pdo>
+							<Pdo OSFac="1">#x1600</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync2</Name>
+						<Desc>2 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-2">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1680</Pdo>
+							<Pdo OSFac="2">#x1600</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync3</Name>
+						<Desc>3 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-3">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1680</Pdo>
+							<Pdo OSFac="3">#x1600</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync4</Name>
+						<Desc>4 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-4">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1680</Pdo>
+							<Pdo OSFac="4">#x1600</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync5</Name>
+						<Desc>5 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-5">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1680</Pdo>
+							<Pdo OSFac="5">#x1600</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync8</Name>
+						<Desc>8 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-8">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1680</Pdo>
+							<Pdo OSFac="8">#x1600</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync10</Name>
+						<Desc>10 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-10">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1680</Pdo>
+							<Pdo OSFac="10">#x1600</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync16</Name>
+						<Desc>16 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-16">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1680</Pdo>
+							<Pdo OSFac="16">#x1600</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync20</Name>
+						<Desc>20 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-20">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1680</Pdo>
+							<Pdo OSFac="20">#x1600</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync25</Name>
+						<Desc>25 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-25">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1680</Pdo>
+							<Pdo OSFac="25">#x1600</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync50</Name>
+						<Desc>50 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-50">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1680</Pdo>
+							<Pdo OSFac="50">#x1600</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync100</Name>
+						<Desc>100 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-100">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1680</Pdo>
+							<Pdo OSFac="100">#x1600</Pdo>
+						</Sm>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0601000010000100</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x08D63052" RevisionNo="#x00010000">EL2262</Type>
+				<HideType RevisionNo="#x00000000" ProductRevision="EL2262-0000-0000"/>
+				<Name LcId="1033"><![CDATA[EL2262 2Ch. Dig. Output 24V, 0.5A, DC Over Sampling]]></Name>
+				<Name LcId="1031"><![CDATA[EL2262 2K. Dig. Ausgang 24V, 0.5A, DC Over Sampling]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2262]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2262]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="true" Sm="0" Su="0">Outputs</Fmmu>
+				<Fmmu OpOnly="true" Sm="1" Su="1">Outputs</Fmmu>
+				<Sm StartAddress="#x1000" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Sm StartAddress="#x1200" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su/>
+				<Su/>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1700</Index>
+					<Name>CycCount0</Name>
+					<Entry>
+						<Index>#x7800</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Cycle Counter</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0" OSFac="10" OSMin="1" OSMax="100" OSIndexInc="8">
+					<Index>#x1600</Index>
+					<Name>Sample0</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output0</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1710</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1711</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1712</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1713</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1714</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1715</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>6</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1716</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>7</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x1701</Index>
+					<Name>CycCount1</Name>
+					<Entry>
+						<Index>#x7800</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Cycle Counter</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1" OSFac="10" OSMin="1" OSMax="100" OSIndexInc="8">
+					<Index>#x1680</Index>
+					<Name>Sample1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output1</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x1718</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x1719</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x171a</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x171b</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x171c</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x171d</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>6</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x171e</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>7</BitLen>
+					</Entry>
+				</RxPdo>
+				<Dc>
+					<OpMode>
+						<Name>DcSync</Name>
+						<Desc>No oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="1">#x1600</Pdo>
+							<Pdo>#x1716</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="1">#x1680</Pdo>
+							<Pdo>#x171e</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync2</Name>
+						<Desc>2 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-2">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="2">#x1600</Pdo>
+							<Pdo>#x1715</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="2">#x1680</Pdo>
+							<Pdo>#x171d</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync3</Name>
+						<Desc>3 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-3">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="3">#x1600</Pdo>
+							<Pdo>#x1714</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="3">#x1680</Pdo>
+							<Pdo>#x171c</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync4</Name>
+						<Desc>4 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-4">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="4">#x1600</Pdo>
+							<Pdo>#x1713</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="4">#x1680</Pdo>
+							<Pdo>#x171b</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync5</Name>
+						<Desc>5 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-5">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="5">#x1600</Pdo>
+							<Pdo>#x1712</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="5">#x1680</Pdo>
+							<Pdo>#x171a</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync8</Name>
+						<Desc>8 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-8">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="8">#x1600</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="8">#x1680</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync10</Name>
+						<Desc>10 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-10">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="10">#x1600</Pdo>
+							<Pdo>#x1715</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="10">#x1680</Pdo>
+							<Pdo>#x171d</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync16</Name>
+						<Desc>16 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-16">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="16">#x1600</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="16">#x1680</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync20</Name>
+						<Desc>20 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-20">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="20">#x1600</Pdo>
+							<Pdo>#x1713</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="20">#x1680</Pdo>
+							<Pdo>#x171b</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync25</Name>
+						<Desc>25 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-25">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="25">#x1600</Pdo>
+							<Pdo>#x1716</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="25">#x1680</Pdo>
+							<Pdo>#x171e</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync40</Name>
+						<Desc>40 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-40">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="40">#x1600</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="40">#x1680</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync50</Name>
+						<Desc>50 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-50">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="50">#x1600</Pdo>
+							<Pdo>#x1715</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="50">#x1680</Pdo>
+							<Pdo>#x171d</Pdo>
+						</Sm>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync100_1</Name>
+						<Desc>100 times oversampling (1Ch)</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-100">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="100">#x1600</Pdo>
+							<Pdo>#x1713</Pdo>
+						</Sm>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0601000010000100</ConfigData>
+				</Eeprom>
+				<VendorSpecific>
+					<TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
+				</VendorSpecific>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x08D63052" RevisionNo="#x00020000" TcSmClass="EL226X">EL2262</Type>
+				<HideType RevisionNo="#x00010000" ProductRevision="EL2262-0001-0000"/>
+				<Name LcId="1033"><![CDATA[EL2262 2Ch. Dig. Output 24V, 1µs, DC Oversample]]></Name>
+				<Name LcId="1031"><![CDATA[EL2262 2K. Dig. Ausgang 24V, 1µs, DC Oversample]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2262]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2262]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>070</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="true" Sm="0" Su="0">Outputs</Fmmu>
+				<Fmmu OpOnly="true" Sm="1" Su="1">Outputs</Fmmu>
+				<Fmmu OpOnly="false" Sm="2" Su="0">Inputs</Fmmu>
+				<Sm StartAddress="#x1000" ControlByte="#x64" Enable="1" OpOnly="1">Outputs</Sm>
+				<Sm StartAddress="#x1200" ControlByte="#x64" Enable="1" OpOnly="1">Outputs</Sm>
+				<Sm StartAddress="#x0998" Virtual="true">Inputs</Sm>
+				<Su/>
+				<Su/>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1700</Index>
+					<Name>CycCount0</Name>
+					<Entry>
+						<Index>#x7800</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Cycle Counter0</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0" OSFac="10" OSMin="1" OSMax="128" OSIndexInc="8">
+					<Index>#x1600</Index>
+					<Name>Sample0</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output0</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0" OSFac="10" OSMin="1" OSMax="125" OSIndexInc="8">
+					<Index>#x1800</Index>
+					<Name>Sample0</Name>
+					<Entry>
+						<Index>#x7200</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>8</BitLen>
+						<Name>Output0</Name>
+						<DataType>BYTE</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1710</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1711</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1712</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1713</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1714</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1715</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>6</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="0" Su="0">
+					<Index>#x1716</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>7</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x1701</Index>
+					<Name>CycCount1</Name>
+					<Entry>
+						<Index>#x7800</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Cycle Counter1</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1" OSFac="10" OSMin="1" OSMax="128" OSIndexInc="8">
+					<Index>#x1680</Index>
+					<Name>Sample1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output1</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1" OSFac="10" OSMin="1" OSMax="125" OSIndexInc="8">
+					<Index>#x1880</Index>
+					<Name>Sample1</Name>
+					<Entry>
+						<Index>#x7200</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>8</BitLen>
+						<Name>Output1</Name>
+						<DataType>BYTE</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x1718</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x1719</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x171a</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x171b</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x171c</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x171d</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>6</BitLen>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="1" Su="1">
+					<Index>#x171e</Index>
+					<Name>Gap</Name>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>7</BitLen>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="2" Virtual="true" Su="0">
+					<Index>#x1702</Index>
+					<Name>StartTimeNextOutput</Name>
+					<Entry>
+						<Index>#x1d09</Index>
+						<SubIndex>#x98</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>StartTimeNextOutput</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Dc>
+					<OpMode>
+						<Name>DcSync</Name>
+						<Desc>2 Channels - No oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="1">#x1600</Pdo>
+							<Pdo>#x1716</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="1">#x1680</Pdo>
+							<Pdo>#x171e</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync2</Name>
+						<Desc>2 Ch. - 2 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-2">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="2">#x1600</Pdo>
+							<Pdo>#x1715</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="2">#x1680</Pdo>
+							<Pdo>#x171d</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync3</Name>
+						<Desc>2 Ch. - 3 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-3">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="3">#x1600</Pdo>
+							<Pdo>#x1714</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="3">#x1680</Pdo>
+							<Pdo>#x171c</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync4</Name>
+						<Desc>2 Ch. - 4 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-4">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="4">#x1600</Pdo>
+							<Pdo>#x1713</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="4">#x1680</Pdo>
+							<Pdo>#x171b</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync5</Name>
+						<Desc>2 Ch. - 5 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-5">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="5">#x1600</Pdo>
+							<Pdo>#x1712</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="5">#x1680</Pdo>
+							<Pdo>#x171a</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync8</Name>
+						<Desc>2 Ch. - 8 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-8">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="8">#x1600</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="8">#x1680</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync10</Name>
+						<Desc>2 Ch. - 10 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-10">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="10">#x1600</Pdo>
+							<Pdo>#x1715</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="10">#x1680</Pdo>
+							<Pdo>#x171d</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync16</Name>
+						<Desc>2 Ch. - 16 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-16">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="16">#x1600</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="16">#x1680</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync20</Name>
+						<Desc>2 Ch. - 20 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-20">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="20">#x1600</Pdo>
+							<Pdo>#x1713</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="20">#x1680</Pdo>
+							<Pdo>#x171b</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync40</Name>
+						<Desc>2 Ch. - 40 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-40">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="40">#x1600</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="40">#x1680</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync50</Name>
+						<Desc>2 Ch. - 50 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-50">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="50">#x1600</Pdo>
+							<Pdo>#x1715</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="50">#x1680</Pdo>
+							<Pdo>#x171d</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync100</Name>
+						<Desc>2 Ch. - 100 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-100">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="100">#x1600</Pdo>
+							<Pdo>#x1713</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="100">#x1680</Pdo>
+							<Pdo>#x171b</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync200</Name>
+						<Desc>2 Ch. - 200 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-200">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="25">#x1800</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="25">#x1880</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync400</Name>
+						<Desc>2 Ch. - 400 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-400">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="50">#x1800</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="50">#x1880</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync1000</Name>
+						<Desc>2 Ch. - 1000 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-1000">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="125">#x1800</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="125">#x1880</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync_1</Name>
+						<Desc>Channel 1 - No oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="1">#x1600</Pdo>
+							<Pdo>#x1716</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync2_1</Name>
+						<Desc>1 Ch. - 2 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-2">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="2">#x1600</Pdo>
+							<Pdo>#x1715</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync3_1</Name>
+						<Desc>1 Ch. - 3 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-3">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="3">#x1600</Pdo>
+							<Pdo>#x1714</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync4_1</Name>
+						<Desc>1 Ch. - 4 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-4">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="4">#x1600</Pdo>
+							<Pdo>#x1713</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync5_1</Name>
+						<Desc>1 Ch. - 5 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-5">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="5">#x1600</Pdo>
+							<Pdo>#x1712</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync8_1</Name>
+						<Desc>1 Ch. - 8 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-8">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="8">#x1600</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync10_1</Name>
+						<Desc>1 Ch. - 10 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-10">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="10">#x1600</Pdo>
+							<Pdo>#x1715</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync16_1</Name>
+						<Desc>1 Ch. - 16 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-16">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="16">#x1600</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync20_1</Name>
+						<Desc>1 Ch. - 20 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-20">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="20">#x1600</Pdo>
+							<Pdo>#x1713</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync40_1</Name>
+						<Desc>1 Ch. - 40 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-40">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="40">#x1600</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync50_1</Name>
+						<Desc>1 Ch. - 50 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-50">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="50">#x1600</Pdo>
+							<Pdo>#x1715</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync100_1</Name>
+						<Desc>1 Ch. - 100 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-100">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="100">#x1600</Pdo>
+							<Pdo>#x1713</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync200_1</Name>
+						<Desc>1 Ch. - 200 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-200">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="25">#x1800</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync400_1</Name>
+						<Desc>1 Ch. - 400 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-400">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="50">#x1800</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync1000_1</Name>
+						<Desc>1 Ch. - 1000 times oversampling</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-1000">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="125">#x1800</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1702</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT IgnoreFromBuildNo="1506"/>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync</Name>
+						<Desc>2 Channels (Bits)</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="1">#x1600</Pdo>
+							<Pdo>#x1710</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1b02</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="1">#x1680</Pdo>
+							<Pdo>#x1718</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT UseFromBuildNo="1506">
+								<Oversampling DefaultFactor="10" MinCycleTime="1000"/>
+							</TwinCAT>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync2</Name>
+						<Desc>2 Channels (Bytes)</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-8">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="1">#x1800</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1b02</Pdo>
+						</Sm>
+						<Sm No="1">
+							<Pdo>#x1701</Pdo>
+							<Pdo OSFac="1">#x1880</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT UseFromBuildNo="1506">
+								<Oversampling DefaultFactor="10" MinCycleTime="1000"/>
+							</TwinCAT>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync_1</Name>
+						<Desc>1 Channel (Bits)</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="1">#x1600</Pdo>
+							<Pdo>#x1710</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1b02</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT UseFromBuildNo="1506">
+								<Oversampling DefaultFactor="10" MinCycleTime="1000"/>
+							</TwinCAT>
+						</VendorSpecific>
+					</OpMode>
+					<OpMode>
+						<Name>DcSync2_1</Name>
+						<Desc>1 Channel (Bytes)</Desc>
+						<AssignActivate>#x0730</AssignActivate>
+						<CycleTimeSync0 Factor="-8">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+						<Sm No="0">
+							<Pdo>#x1700</Pdo>
+							<Pdo OSFac="1">#x1800</Pdo>
+						</Sm>
+						<Sm No="2">
+							<Pdo>#x1b02</Pdo>
+						</Sm>
+						<VendorSpecific>
+							<TwinCAT UseFromBuildNo="1506">
+								<Oversampling DefaultFactor="10" MinCycleTime="1000"/>
+							</TwinCAT>
+						</VendorSpecific>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0605000010000100</ConfigData>
+					<Category>
+						<CatNo>1</CatNo>
+						<Data>D60806020602</Data>
+					</Category>
+				</Eeprom>
+				<VendorSpecific>
+					<TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
+				</VendorSpecific>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09c63052" RevisionNo="#x100000">EL2502</Type>
+				<Name LcId="1033">EL2502 2Ch. PWM Output, 24V</Name>
+				<Name LcId="1031">EL2502 2K. PWM Ausgang, 24V</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2502]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2502]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ProfileNo>5001</ProfileNo>
+					<AddInfo>250</AddInfo>
+					<ChannelCount>2</ChannelCount>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>0</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BIT3</Name>
+								<BitSize>0</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>INT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(11)</Name>
+								<BitSize>88</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0800EN03</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>3</BitSize>
+								<EnumInfo>
+									<Text>Signed Presentation</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Unsigned resentation</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Absolute value with MSB</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Absolute value</Text>
+									<Enum>3</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Default Watchdog value</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Watchdog ramp</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Last value</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>PWM</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Frequency</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C00ARR</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C00</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>280</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>192</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>256</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>PWM output</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>120</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Enable user scale</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Presentation</Name>
+									<Type>DT0800EN03</Type>
+									<BitSize>3</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Watchdog</Name>
+									<Type>DT0801EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Operation mode</Name>
+									<Type>DT0802EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Offset</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Gain</Name>
+									<Type>DINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>40</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Default output</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>72</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Default output ramp</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>88</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Period PWM [µs]</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>104</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT800E</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Timer resolution</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Duty cycle</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>8913fa00</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(11)</Type>
+								<BitSize>88</BitSize>
+								<Info>
+									<DefaultData>454c323530322d30303030</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230c609</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>00001000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Serial number</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x10f0</Index>
+								<Name>Backup parameter</Name>
+								<Type>DT10F0</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Checksum</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1600</Index>
+								<Name>RxPDO-Map Ch.1</Name>
+								<Type>DT1600</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10110070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1601</Index>
+								<Name>RxPDO-Map Ch.2</Name>
+								<Type>DT1600</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10111070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c00</Index>
+								<Name>Sync manager type</Name>
+								<Type>DT1C00</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 004</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c12</Index>
+								<Name>RxPDO assign</Name>
+								<Type>DT1C12</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>0016</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>0116</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c32</Index>
+								<Name>SM output parameter</Name>
+								<Type>DT1C32</Type>
+								<BitSize>280</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>07</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sync mode</Name>
+										<Info>
+											<DefaultData>0100</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Cycle time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Shift time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sync modes supported</Name>
+										<Info>
+											<DefaultData>0780</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Minimum cycle time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Calc and copy time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Command</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Delay time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SM event missed counter</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Cycle exceeded counter</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Shift too short counter</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sync error</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7000</Index>
+								<Name>PWM Outputs Ch.1</Name>
+								<Type>DT7000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>11</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>PWM output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7010</Index>
+								<Name>PWM Outputs Ch.2</Name>
+								<Type>DT7000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>11</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>PWM output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8000</Index>
+								<Name>PWM Settings Ch.1</Name>
+								<Type>DT8000</Type>
+								<BitSize>120</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>15</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable user scale</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Presentation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operation mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Offset</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Gain</Name>
+										<Info>
+											<DefaultData>00000100</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output ramp</Name>
+										<Info>
+											<DefaultData>ffff</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Period PWM [µs]</Name>
+										<Info>
+											<DefaultData>a00f</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x800e</Index>
+								<Name>PWM Internal data Ch.1</Name>
+								<Type>DT800E</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Timer resolution</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Duty cycle</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8010</Index>
+								<Name>PWM Settings Ch.2</Name>
+								<Type>DT8000</Type>
+								<BitSize>120</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>15</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable user scale</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Presentation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operation mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Offset</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Gain</Name>
+										<Info>
+											<DefaultData>00000100</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output ramp</Name>
+										<Info>
+											<DefaultData>ffff</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Period PWM [µs]</Name>
+										<Info>
+											<DefaultData>a00f</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x801e</Index>
+								<Name>PWM Internal data Ch.2</Name>
+								<Type>DT800E</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Timer resolution</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Duty cycle</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0200</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="128" MaxSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="128" MaxSize="128" DefaultSize="128" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x24" Enable="1" Watchdog="1">Outputs</Sm>
+				<Sm DefaultSize="0" StartAddress="#x1180" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Mandatory="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>PWM Outputs Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="2">
+					<Index>#x1601</Index>
+					<Name>PWM Outputs Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1"/>
+					<FoE/>
+				</Mailbox>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030800000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09c63052" RevisionNo="#x110000">EL2502</Type>
+				<HideType RevisionNo="#x00100000" ProductRevision="EL2502-0000-0016"/>
+				<Name LcId="1033">EL2502 2Ch. PWM Output, 24V</Name>
+				<Name LcId="1031">EL2502 2K. PWM Ausgang, 24V</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2502]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2502]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>150</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ProfileNo>5001</ProfileNo>
+					<AddInfo>250</AddInfo>
+					<ChannelCount>2</ChannelCount>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>0</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BIT3</Name>
+								<BitSize>0</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>INT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..1] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>16</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(11)</Name>
+								<BitSize>88</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0800EN03</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>3</BitSize>
+								<EnumInfo>
+									<Text>Signed Presentation</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Unsigned resentation</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Absolute value with MSB</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Absolute value</Text>
+									<Enum>3</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Default Watchdog value</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Watchdog ramp</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Last value</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>PWM</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Frequency</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1400</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude RxPDOs</Name>
+									<Type>ARRAY [0..1] OF BYTE</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1602</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C00ARR</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C00</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>16</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>280</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>192</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>256</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>PWM output</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>PWM period</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>120</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Enable user scale</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Presentation</Name>
+									<Type>DT0800EN03</Type>
+									<BitSize>3</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Watchdog</Name>
+									<Type>DT0801EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Operation mode</Name>
+									<Type>DT0802EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Offset</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Gain</Name>
+									<Type>DINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>40</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Default output</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>72</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Default output ramp</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>88</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Period PWM [µs]</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>104</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT800E</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Timer resolution</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Duty cycle</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>64</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>64</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>8913fa00</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(11)</Type>
+								<BitSize>88</BitSize>
+								<Info>
+									<DefaultData>454c323530322d30303030</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230c609</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>00001100</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Serial number</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x10f0</Index>
+								<Name>Backup parameter handling</Name>
+								<Type>DT10F0</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Checksum</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1400</Index>
+								<Name>RxPDO-ParCh.1</Name>
+								<Type>DT1400</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>0216</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1401</Index>
+								<Name>RxPDO-ParCh.2</Name>
+								<Type>DT1400</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>0216</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1402</Index>
+								<Name>RxPDO-PaCh.1</Name>
+								<Type>DT1400</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>0016</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1403</Index>
+								<Name>RxPDO-PaCh.2</Name>
+								<Type>DT1400</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>0016</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1600</Index>
+								<Name>RxPDO-Map Ch.1</Name>
+								<Type>DT1600</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10110070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1601</Index>
+								<Name>RxPDO-Map Ch.2</Name>
+								<Type>DT1600</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10111070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1602</Index>
+								<Name>RxPDO-MapCh.1</Name>
+								<Type>DT1602</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10110070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>10120070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1603</Index>
+								<Name>RxPDO-MapCh.2</Name>
+								<Type>DT1602</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10111070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>10121070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c00</Index>
+								<Name>Sync manager type</Name>
+								<Type>DT1C00</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 004</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c12</Index>
+								<Name>RxPDO assign</Name>
+								<Type>DT1C12</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>0016</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>0116</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c13</Index>
+								<Name>TxPDO assign</Name>
+								<Type>DT1C13</Type>
+								<BitSize>0</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c32</Index>
+								<Name>SM output parameter</Name>
+								<Type>DT1C32</Type>
+								<BitSize>280</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>20</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sync mode</Name>
+										<Info>
+											<DefaultData>0100</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Cycle time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Shift time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sync modes supported</Name>
+										<Info>
+											<DefaultData>07c0</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Minimum cycle time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Calc and copy time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Command</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Delay time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SM event missed counter</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Cycle exceeded counter</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Shift too short counter</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sync error</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7000</Index>
+								<Name>PWM Outputs Ch.1</Name>
+								<Type>DT7000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>12</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>PWM output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>PWM period</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7010</Index>
+								<Name>PWM Outputs Ch.2</Name>
+								<Type>DT7000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>12</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>PWM output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>PWM period</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8000</Index>
+								<Name>PWM Settings Ch.1</Name>
+								<Type>DT8000</Type>
+								<BitSize>120</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>15</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable user scale</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Presentation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operation mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Offset</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Gain</Name>
+										<Info>
+											<DefaultData>00000100</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output ramp</Name>
+										<Info>
+											<DefaultData>ffff</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Period PWM [µs]</Name>
+										<Info>
+											<DefaultData>a00f</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x800e</Index>
+								<Name>PWM Internal data Ch.1</Name>
+								<Type>DT800E</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Timer resolution</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Duty cycle</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8010</Index>
+								<Name>PWM Settings Ch.2</Name>
+								<Type>DT8000</Type>
+								<BitSize>120</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>15</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable user scale</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Presentation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operation mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Offset</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Gain</Name>
+										<Info>
+											<DefaultData>00000100</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output ramp</Name>
+										<Info>
+											<DefaultData>ffff</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Period PWM [µs]</Name>
+										<Info>
+											<DefaultData>a00f</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x801e</Index>
+								<Name>PWM Internal data Ch.2</Name>
+								<Type>DT800E</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Timer resolution</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Duty cycle</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0200</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fa000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fa000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="128" MaxSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="128" MaxSize="128" DefaultSize="128" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="0" StartAddress="#x1180" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>PWM Outputs Channel 1</Name>
+					<Exclude>#x1602</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>PWM Outputs Channel 1</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM period</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1601</Index>
+					<Name>PWM Outputs Channel 2</Name>
+					<Exclude>#x1603</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1603</Index>
+					<Name>PWM Outputs Channel 2</Name>
+					<Exclude>#x1601</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM period</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1"/>
+					<FoE/>
+				</Mailbox>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030400000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09c63052" RevisionNo="#x00120000">EL2502</Type>
+				<HideType ProductRevision="EL2502-0000-0017" RevisionNo="#x00110000"/>
+				<Name LcId="1033">EL2502 2Ch. PWM Output, 24V</Name>
+				<Name LcId="1031">EL2502 2K. PWM Ausgang, 24V</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2502]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2502]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>150</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ProfileNo>5001</ProfileNo>
+					<AddInfo>250</AddInfo>
+					<ChannelCount>2</ChannelCount>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>0</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BIT3</Name>
+								<BitSize>0</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>INT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..1] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>16</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(11)</Name>
+								<BitSize>88</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0800EN03</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>3</BitSize>
+								<EnumInfo>
+									<Text>Signed Presentation</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Unsigned resentation</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Absolute value with MSB</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Absolute value</Text>
+									<Enum>3</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Default Watchdog value</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Watchdog ramp</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Last value</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>PWM</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Frequency</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1400</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude RxPDOs</Name>
+									<Type>ARRAY [0..1] OF BYTE</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1602</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C00ARR</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C00</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>16</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>280</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>192</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>256</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>PWM output</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>PWM period</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>120</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Enable user scale</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Presentation</Name>
+									<Type>DT0800EN03</Type>
+									<BitSize>3</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Watchdog</Name>
+									<Type>DT0801EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Operation mode</Name>
+									<Type>DT0802EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Offset</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Gain</Name>
+									<Type>DINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>40</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Default output</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>72</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Default output ramp</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>88</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Period PWM [µs]</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>104</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT800E</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Timer resolution</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Duty cycle</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>64</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>64</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>8913fa00</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(11)</Type>
+								<BitSize>88</BitSize>
+								<Info>
+									<DefaultData>454c323530322d30303030</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230c609</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>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>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Checksum</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1400</Index>
+								<Name>RxPDO-ParCh.1</Name>
+								<Type>DT1400</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>0216</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1401</Index>
+								<Name>RxPDO-ParCh.2</Name>
+								<Type>DT1400</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>0216</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1402</Index>
+								<Name>RxPDO-PaCh.1</Name>
+								<Type>DT1400</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>0016</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1403</Index>
+								<Name>RxPDO-PaCh.2</Name>
+								<Type>DT1400</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>0016</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1600</Index>
+								<Name>RxPDO-Map Ch.1</Name>
+								<Type>DT1600</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10110070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1601</Index>
+								<Name>RxPDO-Map Ch.2</Name>
+								<Type>DT1600</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10111070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1602</Index>
+								<Name>RxPDO-MapCh.1</Name>
+								<Type>DT1602</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10110070</DefaultData>
+										</Info>
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+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>10120070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1603</Index>
+								<Name>RxPDO-MapCh.2</Name>
+								<Type>DT1602</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10111070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>10121070</DefaultData>
+										</Info>
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+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c00</Index>
+								<Name>Sync manager type</Name>
+								<Type>DT1C00</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 004</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c12</Index>
+								<Name>RxPDO assign</Name>
+								<Type>DT1C12</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>0016</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>0116</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c13</Index>
+								<Name>TxPDO assign</Name>
+								<Type>DT1C13</Type>
+								<BitSize>0</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c32</Index>
+								<Name>SM output parameter</Name>
+								<Type>DT1C32</Type>
+								<BitSize>280</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>20</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sync mode</Name>
+										<Info>
+											<DefaultData>0100</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Cycle time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Shift time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sync modes supported</Name>
+										<Info>
+											<DefaultData>07c0</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Minimum cycle time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Calc and copy time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Command</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Delay time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SM event missed counter</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Cycle exceeded counter</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Shift too short counter</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sync error</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7000</Index>
+								<Name>PWM Outputs Ch.1</Name>
+								<Type>DT7000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>12</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>PWM output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>PWM period</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7010</Index>
+								<Name>PWM Outputs Ch.2</Name>
+								<Type>DT7000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>12</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>PWM output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>PWM period</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8000</Index>
+								<Name>PWM Settings Ch.1</Name>
+								<Type>DT8000</Type>
+								<BitSize>120</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>15</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable user scale</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Presentation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operation mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Offset</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Gain</Name>
+										<Info>
+											<DefaultData>00000100</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output ramp</Name>
+										<Info>
+											<DefaultData>ffff</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Period PWM [µs]</Name>
+										<Info>
+											<DefaultData>a00f</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x800e</Index>
+								<Name>PWM Internal data Ch.1</Name>
+								<Type>DT800E</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Timer resolution</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Duty cycle</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8010</Index>
+								<Name>PWM Settings Ch.2</Name>
+								<Type>DT8000</Type>
+								<BitSize>120</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>15</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable user scale</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Presentation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operation mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Offset</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Gain</Name>
+										<Info>
+											<DefaultData>00000100</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output ramp</Name>
+										<Info>
+											<DefaultData>ffff</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Period PWM [µs]</Name>
+										<Info>
+											<DefaultData>a00f</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x801e</Index>
+								<Name>PWM Internal data Ch.2</Name>
+								<Type>DT800E</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Timer resolution</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Duty cycle</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0200</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fa000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fa000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MaxSize="128" MinSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MaxSize="128" MinSize="128" DefaultSize="128" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="0" StartAddress="#x1180" ControlByte="#x20" Enable="0">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>PWM Outputs Channel 1</Name>
+					<Exclude>#x1602</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>PWM Outputs Channel 1</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM period</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1601</Index>
+					<Name>PWM Outputs Channel 2</Name>
+					<Exclude>#x1603</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1603</Index>
+					<Name>PWM Outputs Channel 2</Name>
+					<Exclude>#x1601</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM period</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE PdoAssign="1" SdoInfo="1"/>
+					<FoE/>
+				</Mailbox>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030400000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x9c63052" RevisionNo="#x00130000">EL2502</Type>
+				<HideType RevisionNo="#x00110000"/>
+				<HideType RevisionNo="#x00120000"/>
+				<Name LcId="1033">EL2502 2Ch. PWM output, 24V</Name>
+				<Name LcId="1031">EL2502 2K. PWM Ausgang, 24V</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2502]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2502]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>150</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ProfileNo>5001</ProfileNo>
+					<AddInfo>250</AddInfo>
+					<ChannelCount>2</ChannelCount>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>2</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BIT3</Name>
+								<BitSize>3</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>INT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..1] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>16</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(11)</Name>
+								<BitSize>88</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0800EN03</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>3</BitSize>
+								<EnumInfo>
+									<Text>Signed Presentation</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Unsigned resentation</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Absolute value with MSB</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Absolute value</Text>
+									<Enum>3</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Default Watchdog value</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Watchdog ramp</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Last value</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>PWM 20Hz...20kHz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Reserved.</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>PWM 100ns frq. res.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>PWM 1Hz...20kHz</Text>
+									<Enum>3</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</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>
+								</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>
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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>
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+							<DataType>
+								<Name>DT1602</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
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+										<Access>ro</Access>
+										<Category>o</Category>
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+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
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+										<Access>ro</Access>
+										<Category>o</Category>
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+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
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+										<Access>ro</Access>
+										<Category>o</Category>
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+								<Name>DT1C00ARR</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>32</BitSize>
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+									<Elements>4</Elements>
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+								<BitSize>48</BitSize>
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+									<BitSize>8</BitSize>
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+										<Access>ro</Access>
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+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
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+										<Access>ro</Access>
+										<Category>o</Category>
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+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
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+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>0</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>0</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>16</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>0</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>344</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Minimum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Maximum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>288</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>320</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>336</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>PWM output</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>PWM period</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>160</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Enable user scale</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Presentation</Name>
+									<Type>DT0800EN03</Type>
+									<BitSize>3</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Watchdog</Name>
+									<Type>DT0801EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Operation mode</Name>
+									<Type>DT0802EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Offset</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Gain</Name>
+									<Type>DINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Default output</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Default output ramp</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Period PWM 20Hz..20kHz[µs]</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>22</SubIdx>
+									<Name>Period PWM 1Hz..20kHz [µs]</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT800E</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Timer resolution</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Duty cycle</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>64</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>64</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>8913fa00</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(11)</Type>
+								<BitSize>88</BitSize>
+								<Info>
+									<DefaultData>454c323530322d30303030</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230c609</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>00001300</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Serial number</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x10f0</Index>
+								<Name>Backup parameter handling</Name>
+								<Type>DT10F0</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Checksum</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1400</Index>
+								<Name>PWM RxPDO-Par Ch.1</Name>
+								<Type>DT1400</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>0216</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1401</Index>
+								<Name>PWM RxPDO-Par Ch.2</Name>
+								<Type>DT1400</Type>
+								<BitSize>32</BitSize>
+								<Info>
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+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="128" MaxSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="128" MaxSize="128" DefaultSize="128" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="0" StartAddress="#x1180" ControlByte="#x0" Enable="0">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>PWM Outputs Channel 1</Name>
+					<Exclude>#x1602</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1601</Index>
+					<Name>PWM Outputs Channel 2</Name>
+					<Exclude>#x1603</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>PWM Outputs Channel 1</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM period</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1603</Index>
+					<Name>PWM Outputs Channel 2</Name>
+					<Exclude>#x1601</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM period</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1"/>
+					<FoE/>
+				</Mailbox>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030000000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x9c63052" RevisionNo="#x00140000">EL2502</Type>
+				<HideType RevisionNo="#x00110000"/>
+				<HideType RevisionNo="#x00120000"/>
+				<HideType RevisionNo="#x00130000"/>
+				<Name LcId="1033">EL2502 2Ch. PWM output, 24V</Name>
+				<Name LcId="1031">EL2502 2K. PWM Ausgang, 24V</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2502]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2502]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>150</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+					<VendorSpecific>
+						<TwinCAT>
+							<AlternativeSmMapping Default="1">
+								<Name>Pulswith (standard)</Name>
+								<Sm No="2">
+									<Pdo>#x1600</Pdo>
+									<Pdo>#x1601</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+							<AlternativeSmMapping>
+								<Name>Pulswith and frequency (16 bit)</Name>
+								<Sm No="2">
+									<Pdo>#x1602</Pdo>
+									<Pdo>#x1603</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+						</TwinCAT>
+					</VendorSpecific>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ProfileNo>5001</ProfileNo>
+					<AddInfo>250</AddInfo>
+					<ChannelCount>2</ChannelCount>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>2</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BIT3</Name>
+								<BitSize>3</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>INT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..1] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>16</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(11)</Name>
+								<BitSize>88</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0800EN03</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>3</BitSize>
+								<EnumInfo>
+									<Text>Signed Presentation</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Unsigned Presentation</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Absolute value with MSB</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Absolute value</Text>
+									<Enum>3</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Default Watchdog value</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Watchdog ramp</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Last value</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>PWM 20Hz...20kHz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Reserved.</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>PWM 100ns frq. res.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>PWM 1Hz...20kHz</Text>
+									<Enum>3</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1400</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude RxPDOs</Name>
+									<Type>ARRAY [0..1] OF BYTE</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1602</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C00ARR</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C00</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>0</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>0</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>16</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>0</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>344</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Minimum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Maximum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>288</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>320</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>336</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>PWM output</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>PWM period</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>160</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Enable user scale</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Presentation</Name>
+									<Type>DT0800EN03</Type>
+									<BitSize>3</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Watchdog</Name>
+									<Type>DT0801EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Operation mode</Name>
+									<Type>DT0802EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Offset</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Gain</Name>
+									<Type>DINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Default output</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Default output ramp</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Period PWM 20Hz..20kHz[µs]</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>22</SubIdx>
+									<Name>Period PWM 1Hz..20kHz [µs]</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT800E</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Timer resolution</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Duty cycle</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>64</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>64</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>8913fa00</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(11)</Type>
+								<BitSize>88</BitSize>
+								<Info>
+									<DefaultData>454c323530322d30303030</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230c609</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>00001300</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Serial number</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x10f0</Index>
+								<Name>Backup parameter handling</Name>
+								<Type>DT10F0</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Checksum</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1400</Index>
+								<Name>PWM RxPDO-Par Ch.1</Name>
+								<Type>DT1400</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>0216</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1401</Index>
+								<Name>PWM RxPDO-Par Ch.2</Name>
+								<Type>DT1400</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>0316</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1402</Index>
+								<Name>PWM RxPDO-Par h.1 Ch.1</Name>
+								<Type>DT1400</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>0016</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1403</Index>
+								<Name>PWM RxPDO-Par h.1 Ch.2</Name>
+								<Type>DT1400</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>0116</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1600</Index>
+								<Name>PWM RxPDO-Map Ch.1</Name>
+								<Type>DT1600</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10110070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1601</Index>
+								<Name>PWM RxPDO-Map Ch.2</Name>
+								<Type>DT1600</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10111070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1602</Index>
+								<Name>PWM RxPDO-Map h.1 Ch.1</Name>
+								<Type>DT1602</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10110070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>10120070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1603</Index>
+								<Name>PWM RxPDO-Map h.1 Ch.2</Name>
+								<Type>DT1602</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10111070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>10121070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c00</Index>
+								<Name>Sync manager type</Name>
+								<Type>DT1C00</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 004</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c12</Index>
+								<Name>RxPDO assign</Name>
+								<Type>DT1C12</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>0016</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>0116</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c13</Index>
+								<Name>TxPDO assign</Name>
+								<Type>DT1C13</Type>
+								<BitSize>8</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
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+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
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+							</Object>
+							<Object>
+								<Index>#x1c32</Index>
+								<Name>SM output parameter</Name>
+								<Type>DT1C32</Type>
+								<BitSize>344</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>20</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sync mode</Name>
+										<Info>
+											<DefaultData>0100</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Cycle time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Shift time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sync modes supported</Name>
+										<Info>
+											<DefaultData>07c0</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Minimum cycle time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Calc and copy time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Minimum delay time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Command</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum delay time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SM event missed counter</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Cycle exceeded counter</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Shift too short counter</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sync error</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7000</Index>
+								<Name>PWM Outputs Ch.1</Name>
+								<Type>DT7000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>12</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>PWM output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>PWM period</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7010</Index>
+								<Name>PWM Outputs Ch.2</Name>
+								<Type>DT7000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>12</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>PWM output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>PWM period</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8000</Index>
+								<Name>PWM Settings Ch.1</Name>
+								<Type>DT8000</Type>
+								<BitSize>160</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>16</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable user scale</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Presentation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operation mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Offset</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Gain</Name>
+										<Info>
+											<DefaultData>00000100</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output ramp</Name>
+										<Info>
+											<DefaultData>ffff</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Period PWM 20Hz..20kHz[µs]</Name>
+										<Info>
+											<DefaultData>a00f</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Period PWM 1Hz..20kHz [µs]</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#xf4240</MaxValue>
+											<DefaultValue>#x186a0</DefaultValue>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x800e</Index>
+								<Name>PWM Internal data Ch.1</Name>
+								<Type>DT800E</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Timer resolution</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Duty cycle</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8010</Index>
+								<Name>PWM Settings Ch.2</Name>
+								<Type>DT8000</Type>
+								<BitSize>160</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>16</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable user scale</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Presentation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operation mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Offset</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Gain</Name>
+										<Info>
+											<DefaultData>00000100</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output ramp</Name>
+										<Info>
+											<DefaultData>ffff</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Period PWM 20Hz..20kHz[µs]</Name>
+										<Info>
+											<DefaultData>a00f</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Period PWM 1Hz..20kHz [µs]</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#xf4240</MaxValue>
+											<DefaultValue>#x186a0</DefaultValue>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x801e</Index>
+								<Name>PWM Internal data Ch.2</Name>
+								<Type>DT800E</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Timer resolution</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Duty cycle</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0200</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</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>
+										</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 MinSize="128" MaxSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="128" MaxSize="128" DefaultSize="128" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="0" StartAddress="#x1180" ControlByte="#x0" Enable="0">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>PWM Outputs Channel 1</Name>
+					<Exclude>#x1602</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1601</Index>
+					<Name>PWM Outputs Channel 2</Name>
+					<Exclude>#x1603</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>PWM Outputs Channel 1</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM period</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1603</Index>
+					<Name>PWM Outputs Channel 2</Name>
+					<Exclude>#x1601</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM period</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1"/>
+					<FoE/>
+				</Mailbox>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030000000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09d93052" RevisionNo="#x00000000">EL2521</Type>
+				<Name LcId="1033"><![CDATA[EL2521 1Ch. Pulse Train Output]]></Name>
+				<Name LcId="1031"><![CDATA[EL2521 1K. Pulse Train Ausgang]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>280</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ProfileNo>5001</ProfileNo>
+					<AddInfo>252</AddInfo>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(11)</Name>
+								<BitSize>88</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(16)</Name>
+								<BitSize>128</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0029</Name>
+								<BitSize>16</BitSize>
+								<EnumInfo>
+									<Text>Free Run</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Synchron</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>SYNC0 Event</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0800</Name>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801</Name>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor Id</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product Code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision Number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial Number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>RxPDO Mapping Element 1: Ctrl</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>RxPDO Mapping Element 2: Data Out</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A00</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>TxPDO Mapping Element 1: Status</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>TxPDO Mapping Element 2: Data In</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C00ARR</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C00</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<MinValue>0</MinValue>
+									<MaxValue>1</MaxValue>
+									<DefaultValue>1</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Assigned RxPDO</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<MinValue>#x1600</MinValue>
+									<MaxValue>#x1600</MaxValue>
+									<DefaultValue>#x1600</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<MinValue>0</MinValue>
+									<MaxValue>1</MaxValue>
+									<DefaultValue>1</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Assigned TxPDO</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<MinValue>#x1600</MinValue>
+									<MaxValue>#x1600</MaxValue>
+									<DefaultValue>#x1600</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Status</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data In</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Ctrl</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data Out</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Rising edge clears/sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0800</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Rising edge sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0801</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>15</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8001</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<MinValue>#x00</MinValue>
+									<MaxValue>#xffff</MaxValue>
+									<DefaultValue>0</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<MinValue>#x64</MinValue>
+									<MaxValue>#x0007a120</MaxValue>
+									<DefaultValue>50000</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<MinValue>#x64</MinValue>
+									<MaxValue>#x0007a120</MaxValue>
+									<DefaultValue>100000</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<MinValue>#x00</MinValue>
+									<MaxValue>#xffff</MaxValue>
+									<DefaultValue>1000</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<MinValue>#x00</MinValue>
+									<MaxValue>#xffff</MaxValue>
+									<DefaultValue>1000</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<MinValue>#x01</MinValue>
+									<MaxValue>#xffff</MaxValue>
+									<DefaultValue>100</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<MinValue>#x00</MinValue>
+									<MaxValue>#x7fff</MaxValue>
+									<DefaultValue>50</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<MinValue>#x00</MinValue>
+									<MaxValue>#xffff</MaxValue>
+									<DefaultValue>1000</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8800</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Target counter state</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<MinValue>#x00</MinValue>
+									<MaxValue>#xffffffff</MaxValue>
+									<DefaultValue>0</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>48</BitOffs>
+									<MinValue>#x00</MinValue>
+									<MaxValue>#x7fff</MaxValue>
+									<DefaultValue>0</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTA000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Counter extension</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000ARR</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>8</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF000</Name>
+								<BitSize>24</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF000ARR</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device Type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device Name</Name>
+								<Type>STRING(11)</Type>
+								<BitSize>88</BitSize>
+								<Info>
+									<DefaultData>454c323532312d30303030</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware Version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software Version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Load Default Settings</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>010000000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<DefaultData>0400020000005230d9090000000000000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1600</Index>
+								<Name>Outputs</Name>
+								<Type>DT1600</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<DefaultData>02001001007010020070</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1a00</Index>
+								<Name>Inputs</Name>
+								<Type>DT1A00</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<DefaultData>02001001006010020060</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c00</Index>
+								<Name>Sync Manager Type</Name>
+								<Type>DT1C00</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>040001020304</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c01</Index>
+								<Name>Process Data Format</Name>
+								<Type>UINT</Type>
+								<BitSize>16</BitSize>
+								<Info>
+									<DefaultData>0001</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c12</Index>
+								<Name>SM 002 RxPDO Assign</Name>
+								<Type>DT1C12</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>01000016</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c13</Index>
+								<Name>SM 003 TxPDO Assign</Name>
+								<Type>DT1C13</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>01000016</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x6000</Index>
+								<Name>Inputs</Name>
+								<Type>DT6000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>020000000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7000</Index>
+								<Name>Outputs</Name>
+								<Type>DT7000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>020000000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8000</Index>
+								<Name>Feature bits</Name>
+								<Type>DT8000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>0f003000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8001</Index>
+								<Name>User settings</Name>
+								<Type>DT8001</Type>
+								<BitSize>176</BitSize>
+								<Info>
+									<DefaultData>0800000050c30000a0860100e803e80364003200e803</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8800</Index>
+								<Name>Volatile Settings</Name>
+								<Type>DT8800</Type>
+								<BitSize>64</BitSize>
+								<Info>
+									<DefaultData>0200000000000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xa000</Index>
+								<Name>Diagnostic Parameter</Name>
+								<Type>DTA000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>01000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Profile Settings</Name>
+								<Type>DTF000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>02001001</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code Word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Sm DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>Outputs</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>Inputs</Name>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Status</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data In</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox>
+					<CoE SdoInfo="1" PdoAssign="0" PdoConfig="0"/>
+					<FoE/>
+				</Mailbox>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>050003080000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09d93052" RevisionNo="#x3F80000">EL2521</Type>
+				<HideType RevisionNo="#x00000000" ProductRevision="EL2521-0000-0000"/>
+				<Name LcId="1033">EL2521 1Ch. Pulse Train Output</Name>
+				<Name LcId="1031">EL2521 1K. Pulse Train Ausgang</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>280</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+					<VendorSpecific>
+						<TwinCAT>
+							<AlternativeSmMapping>
+								<Name>Legacy (MDP 252)</Name>
+								<Sm No="2">
+									<Pdo>#x1600</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a00</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+							<AlternativeSmMapping Default="1">
+								<Name>Standard 16 Bit (MDP 253/511)</Name>
+								<Sm No="2">
+									<Pdo>#x1601</Pdo>
+									<Pdo>#x1604</Pdo>
+									<Pdo>#x1602</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a01</Pdo>
+									<Pdo>#x1a02</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+							<AlternativeSmMapping>
+								<Name>Standard 32 Bit (MDP 253/511)</Name>
+								<Sm No="2">
+									<Pdo>#x1601</Pdo>
+									<Pdo>#x1607</Pdo>
+									<Pdo>#x1605</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a01</Pdo>
+									<Pdo>#x1a05</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+						</TwinCAT>
+					</VendorSpecific>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>252</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>253</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>511</AddInfo>
+					</ChannelInfo>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>0</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..5] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>6</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..9] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>80</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>10</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(6)</Name>
+								<BitSize>48</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0800EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0803EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1400</Name>
+								<BitSize>96</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude RxPDOs</Name>
+									<Type>ARRAY [0..9] OF BYTE</Type>
+									<BitSize>80</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1601</Name>
+								<BitSize>208</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1602</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1604</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1800</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1801</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>TxPDO-Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A01</Name>
+								<BitSize>336</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>SubIndex 009</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>SubIndex 010</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C00ARR</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C00</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>280</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>192</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>256</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Status</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data In</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6010</Name>
+								<BitSize>24</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sel. Ack/End counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Status of input target</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Status of input zero</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter done</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Counter underflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Counter overflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Ctrl</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data Out</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7010</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Frequency select</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Disable ramp</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Go counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Frequency value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Target counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>40</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Set counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Rising edge clears/sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0800EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Rising edge sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0801EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>15</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>28</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8001</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8010</Name>
+								<BitSize>192</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0802EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0803EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>22</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>23</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>24</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8800</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Target counter state</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTA000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Counter extension</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>96</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>112</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>96</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>89130000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(6)</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>454c32353231</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230d909</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>0000f803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Serial number</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x10f0</Index>
+								<Name>Backup parameter handling</Name>
+								<Type>DT10F0</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Checksum</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1400</Index>
+								<Name>RxPDO-Par</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>01160416071602160516</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1401</Index>
+								<Name>PTO RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160000000000000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1402</Index>
+								<Name>ENC RxPDO-Par Control compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160516071600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1404</Index>
+								<Name>PTO RxPDO-Par Target compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160516071600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1405</Index>
+								<Name>ENC RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160216041600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1407</Index>
+								<Name>PTO RxPDO-Par Target</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160216041600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1600</Index>
+								<Name>RxPDO-Map</Name>
+								<Type>DT1600</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10010070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>10020070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1601</Index>
+								<Name>PTO RxPDO-Map Control</Name>
+								<Type>DT1601</Type>
+								<BitSize>208</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>01011070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
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+							<Object>
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+								<Info>
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+							<Object>
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+								<Type>DT1C13</Type>
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+								<Info>
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+							<Object>
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+								<Info>
+									<SubItem>
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+									</SubItem>
+									<SubItem>
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+										<Info>
+											<DefaultData>0100</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Cycle time</Name>
+										<Info>
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+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Shift time</Name>
+										<Info>
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+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sync modes supported</Name>
+										<Info>
+											<DefaultData>07c0</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Minimum cycle time</Name>
+										<Info>
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+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Calc and copy time</Name>
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+										</Info>
+									</SubItem>
+									<SubItem>
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+										</Info>
+									</SubItem>
+									<SubItem>
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+										<Info>
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+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SM event missed counter</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
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+								<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="#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>
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+							<DataType>
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+										<Access>ro</Access>
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+								<SubItem>
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+										<Access>rw</Access>
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+										<Access>ro</Access>
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+										<Access>ro</Access>
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+										<Access>ro</Access>
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+							<DataType>
+								<Name>DT10F0</Name>
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+										<Category>o</Category>
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+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
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+										<Access>ro</Access>
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+										<Access>ro</Access>
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+										<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>
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+									</SubItem>
+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Travel distance control active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operating mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Negative logic</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 1</Name>
+										<Info>
+											<MinValue>100</MinValue>
+											<MaxValue>500000</MaxValue>
+											<DefaultValue>50000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>100</MinValue>
+											<MaxValue>500000</MaxValue>
+											<DefaultValue>100000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>1</MinValue>
+											<MaxValue>65535</MaxValue>
+											<DefaultValue>100</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>0</MinValue>
+											<MaxValue>32767</MaxValue>
+											<DefaultValue>50</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8800</Index>
+								<Name>Volatile settings</Name>
+								<Type>DT8800</Type>
+								<BitSize>64</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Target counter state</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum frequency</Name>
+										<Info>
+											<MinValue>0</MinValue>
+											<MaxValue>32767</MaxValue>
+											<DefaultValue>0</DefaultValue>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xa000</Index>
+								<Name>Diagnostic parameter</Name>
+								<Type>DTA000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter extension</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0300</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>112</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fc000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fd000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>ff010000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="64" MaxSize="128" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="64" MaxSize="128" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>Outputs</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1601</Index>
+					<Name>PTO Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Frequency select</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Disable ramp</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Go counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Frequency value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1604</Index>
+					<Name>PTO Target compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1607</Index>
+					<Name>PTO Target</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>ENC Control compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1605</Index>
+					<Name>ENC Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>Inputs</Name>
+					<Exclude>#x1a01</Exclude>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a05</Exclude>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Status</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data In</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
+					<Name>PTO Status</Name>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sel. Ack/End counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Ramp active</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Status of input target</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Status of input zero</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>6</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1801</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a02</Index>
+					<Name>ENC Status compact</Name>
+					<Exclude>#x1a05</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a05</Index>
+					<Name>ENC Status</Name>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1805</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Dc>
+					<OpMode>
+						<Name>Synchron</Name>
+						<Desc>FreeRun/SM-Synchron</Desc>
+						<AssignActivate>#x0</AssignActivate>
+						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DC</Name>
+						<Desc>DC-Synchron</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030c32000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09d93052" RevisionNo="#x03FA0000">EL2521</Type>
+				<HideType RevisionNo="#x00000000"/>
+				<HideType RevisionNo="#x03F80000"/>
+				<HideType RevisionNo="#x03F90000"/>
+				<Name LcId="1033">EL2521 1Ch. Pulse Train Output</Name>
+				<Name LcId="1031">EL2521 1K. Pulse Train Ausgang</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>280</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+					<VendorSpecific>
+						<TwinCAT>
+							<AlternativeSmMapping>
+								<Name>Legacy (MDP 252)</Name>
+								<Sm No="2">
+									<Pdo>#x1600</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a00</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+							<AlternativeSmMapping Default="1">
+								<Name>Standard 16 Bit (MDP 253/511)</Name>
+								<Sm No="2">
+									<Pdo>#x1601</Pdo>
+									<Pdo>#x1604</Pdo>
+									<Pdo>#x1602</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a01</Pdo>
+									<Pdo>#x1a02</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+							<AlternativeSmMapping>
+								<Name>Standard 32 Bit (MDP 253/511)</Name>
+								<Sm No="2">
+									<Pdo>#x1601</Pdo>
+									<Pdo>#x1607</Pdo>
+									<Pdo>#x1605</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a01</Pdo>
+									<Pdo>#x1a05</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+						</TwinCAT>
+					</VendorSpecific>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>252</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>253</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>511</AddInfo>
+					</ChannelInfo>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>0</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..5] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>6</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..9] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>80</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>10</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(6)</Name>
+								<BitSize>48</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0800EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0803EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1400</Name>
+								<BitSize>96</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude RxPDOs</Name>
+									<Type>ARRAY [0..9] OF BYTE</Type>
+									<BitSize>80</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1601</Name>
+								<BitSize>208</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1602</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1604</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1800</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1801</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>TxPDO-Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A01</Name>
+								<BitSize>336</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>SubIndex 009</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>SubIndex 010</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C00ARR</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C00</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>280</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>192</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>256</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Status</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data In</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6010</Name>
+								<BitSize>24</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sel. Ack/End counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Status of input target</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Status of input zero</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter done</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Counter underflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Counter overflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Ctrl</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data Out</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7010</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Frequency select</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Disable ramp</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Go counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Frequency value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Target counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>40</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Set counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Rising edge clears/sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0800EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Rising edge sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0801EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>15</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>28</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8001</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8010</Name>
+								<BitSize>192</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0802EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0803EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>22</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>23</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>24</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8800</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Target counter state</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTA000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Counter extension</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
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+											<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="54" MaxSize="54" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="54" MaxSize="54" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>Outputs</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1601</Index>
+					<Name>PTO Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Frequency select</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Disable ramp</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Go counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Frequency value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1604</Index>
+					<Name>PTO Target compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1607</Index>
+					<Name>PTO Target</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>ENC Control compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1605</Index>
+					<Name>ENC Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>Inputs</Name>
+					<Exclude>#x1a01</Exclude>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a05</Exclude>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Status</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data In</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
+					<Name>PTO Status</Name>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sel. Ack/End counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Ramp active</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Status of input target</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Status of input zero</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>6</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1801</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a02</Index>
+					<Name>ENC Status compact</Name>
+					<Exclude>#x1a05</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a05</Index>
+					<Name>ENC Status</Name>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1805</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Dc>
+					<OpMode>
+						<Name>Synchron</Name>
+						<Desc>FreeRun/SM-Synchron</Desc>
+						<AssignActivate>#x0</AssignActivate>
+						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DC</Name>
+						<Desc>DC-Synchron</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030c32000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x9d93052" RevisionNo="#x03fb0000">EL2521</Type>
+				<HideType RevisionNo="#x0"/>
+				<HideType RevisionNo="#x3f80000"/>
+				<HideType RevisionNo="#x3f90000"/>
+				<HideType RevisionNo="#x3fa0000"/>
+				<Name LcId="1033">EL2521 1Ch. Pulse Train Output</Name>
+				<Name LcId="1031">EL2521 1K. Pulse Train Ausgang</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>280</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+					<VendorSpecific>
+						<TwinCAT>
+							<AlternativeSmMapping>
+								<Name>Legacy (MDP 252)</Name>
+								<Sm No="2">
+									<Pdo>#x1600</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a00</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+							<AlternativeSmMapping Default="1">
+								<Name>Standard 16 Bit (MDP 253/511)</Name>
+								<Sm No="2">
+									<Pdo>#x1601</Pdo>
+									<Pdo>#x1602</Pdo>
+									<Pdo>#x1604</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a01</Pdo>
+									<Pdo>#x1a02</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+							<AlternativeSmMapping>
+								<Name>Standard 32 Bit (MDP 253/511)</Name>
+								<Sm No="2">
+									<Pdo>#x1601</Pdo>
+									<Pdo>#x1605</Pdo>
+									<Pdo>#x1607</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a01</Pdo>
+									<Pdo>#x1a05</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+						</TwinCAT>
+					</VendorSpecific>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>252</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>253</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>511</AddInfo>
+					</ChannelInfo>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>2</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..5] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>6</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..9] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>80</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>10</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(6)</Name>
+								<BitSize>48</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0800EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0803EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1400</Name>
+								<BitSize>96</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude RxPDOs</Name>
+									<Type>ARRAY [0..9] OF BYTE</Type>
+									<BitSize>80</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1601</Name>
+								<BitSize>208</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1602</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1604</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1800</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1801</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A01</Name>
+								<BitSize>336</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>SubIndex 009</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>SubIndex 010</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C00ARR</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C00</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>344</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Minimum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Maximum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>288</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>320</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>336</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Status</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data In</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6010</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sel. Ack/End counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Status of input target</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Status of input zero</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6020</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter done</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Counter underflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Counter overflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Ctrl</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data Out</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7010</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Frequency select</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Disable ramp</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Go counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Frequency value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Target counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7020</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Set counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Rising edge clears/sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0800EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Rising edge sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0801EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>15</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8001</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8010</Name>
+								<BitSize>192</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0802EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0803EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>22</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>23</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>24</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8800</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Target counter state</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTA000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Counter extension</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>96</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>112</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>96</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>89130000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(6)</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>454c32353231</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230d909</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>0000fb03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Serial number</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x10f0</Index>
+								<Name>Backup parameter handling</Name>
+								<Type>DT10F0</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Checksum</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1400</Index>
+								<Name>RxPDO-Par</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>01160416071602160516</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1401</Index>
+								<Name>PTO RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160000000000000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1402</Index>
+								<Name>ENC RxPDO-Par Control compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160516071600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1404</Index>
+								<Name>PTO RxPDO-Par Target compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160516071600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1405</Index>
+								<Name>ENC RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160216041600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1407</Index>
+								<Name>PTO RxPDO-Par Target</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160216041600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1600</Index>
+								<Name>RxPDO-Map</Name>
+								<Type>DT1600</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10010070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>10020070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1601</Index>
+								<Name>PTO RxPDO-Map Control</Name>
+								<Type>DT1601</Type>
+								<BitSize>208</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>01011070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>01021070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>01031070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 004</Name>
+										<Info>
+											<DefaultData>05000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 005</Name>
+										<Info>
+											<DefaultData>08000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 006</Name>
+										<Info>
+											<DefaultData>10111070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1602</Index>
+								<Name>ENC RxPDO-Map Control compact</Name>
+								<Type>DT1602</Type>
+								<BitSize>176</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>05</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>01032070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>05000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 004</Name>
+										<Info>
+											<DefaultData>08000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 005</Name>
+										<Info>
+											<DefaultData>10112070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
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+								<Info>
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+									<SubItem>
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+									<SubItem>
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+									<SubItem>
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+									<SubItem>
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+									<SubItem>
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+									<SubItem>
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+									</SubItem>
+									<SubItem>
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+										<Info>
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+										</Info>
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+									<SubItem>
+										<Name>Maximum delay time</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SM event missed counter</Name>
+										<Info>
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+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Cycle exceeded counter</Name>
+										<Info>
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+									</SubItem>
+									<SubItem>
+										<Name>Shift too short counter</Name>
+										<Info>
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+									<SubItem>
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+								<Flags>
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+							<Object>
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+									<SubItem>
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+									<SubItem>
+										<Name>Data In</Name>
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+							</Object>
+							<Object>
+								<Index>#x6010</Index>
+								<Name>PTO Inputs</Name>
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+								<Info>
+									<SubItem>
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+									</SubItem>
+									<SubItem>
+										<Name>Sel. Ack/End counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Ramp active</Name>
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+									<SubItem>
+										<Name>Status of input target</Name>
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+									<SubItem>
+										<Name>Status of input zero</Name>
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+								<Flags>
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+							</Object>
+							<Object>
+								<Index>#x6020</Index>
+								<Name>ENC Inputs</Name>
+								<Type>DT6020</Type>
+								<BitSize>64</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>11</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Set counter done</Name>
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+											<DefaultData>00</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Counter underflow</Name>
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+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter overflow</Name>
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+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
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+									</SubItem>
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+								<Flags>
+									<Access>ro</Access>
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+							<Object>
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+								<Info>
+									<SubItem>
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+											<DefaultData>02</DefaultData>
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+									<SubItem>
+										<Name>Ctrl</Name>
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+									<SubItem>
+										<Name>Data Out</Name>
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+								<Flags>
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+							<Object>
+								<Index>#x7010</Index>
+								<Name>PTO Outputs</Name>
+								<Type>DT7010</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
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+											<DefaultData>12</DefaultData>
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+									<SubItem>
+										<Name>Frequency select</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Disable ramp</Name>
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+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Go counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Target counter value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
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+								</Info>
+								<Flags>
+									<Access>ro</Access>
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+							<Object>
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+										<Name>Set counter</Name>
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+									<SubItem>
+										<Name>Set counter value</Name>
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+											<DefaultData>00000000</DefaultData>
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+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
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+							</Object>
+							<Object>
+								<Index>#x8000</Index>
+								<Name>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>
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+									</SubItem>
+									<SubItem>
+										<Name>Sign/amount representation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
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+									<SubItem>
+										<Name>Rising edge clears/sets counter</Name>
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+											<DefaultData>01</DefaultData>
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+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Travel distance control active</Name>
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+											<DefaultData>00</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Rising edge sets counter</Name>
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+											<DefaultData>00</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<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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+									</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>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#xc350</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
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+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#x186a0</DefaultValue>
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+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
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+											<DefaultData>e803</DefaultData>
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+									<SubItem>
+										<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>#x1</MinValue>
+											<MaxValue>#xffff</MaxValue>
+											<DefaultValue>#x64</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#x7fff</MaxValue>
+											<DefaultValue>#x32</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
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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>
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+											<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>
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+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
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+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
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+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
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+									<SubItem>
+										<Name>Travel distance control active</Name>
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+										<Name>Negative logic</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
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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>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#xc350</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#x186a0</DefaultValue>
+										</Info>
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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>
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+											<MinValue>#x1</MinValue>
+											<MaxValue>#xffff</MaxValue>
+											<DefaultValue>#x64</DefaultValue>
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+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#x7fff</MaxValue>
+											<DefaultValue>#x32</DefaultValue>
+										</Info>
+									</SubItem>
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+										<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>
+							<Object>
+								<Index>#x8800</Index>
+								<Name>Volatile settings</Name>
+								<Type>DT8800</Type>
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+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Target counter state</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum frequency</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#x7fff</MaxValue>
+											<DefaultValue>#x0</DefaultValue>
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+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
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+							<Object>
+								<Index>#xa000</Index>
+								<Name>Diagnostic parameter</Name>
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+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Counter extension</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
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+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
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+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>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>
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+								<Info>
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+										<Name>SubIndex 000</Name>
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+											<DefaultData>ff010000</DefaultData>
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+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
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+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="54" MaxSize="128" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="54" MaxSize="128" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>Outputs</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1601</Index>
+					<Name>PTO Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Frequency select</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Disable ramp</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Go counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Frequency value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1604</Index>
+					<Name>PTO Target compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1607</Index>
+					<Name>PTO Target</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>ENC Control compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1605</Index>
+					<Name>ENC Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>Inputs</Name>
+					<Exclude>#x1a01</Exclude>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a05</Exclude>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Status</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data In</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
+					<Name>PTO Status</Name>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sel. Ack/End counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Ramp active</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Status of input target</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Status of input zero</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>6</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1801</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a02</Index>
+					<Name>ENC Status compact</Name>
+					<Exclude>#x1a05</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a05</Index>
+					<Name>ENC Status</Name>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1805</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Dc>
+					<OpMode>
+						<Name>Synchron</Name>
+						<Desc>FreeRun/SM-Synchron</Desc>
+						<AssignActivate>#x0</AssignActivate>
+						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DC</Name>
+						<Desc>DC-Synchron</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0 Input="0">0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030c32000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09d93052" RevisionNo="#x3F80018">EL2521-0024</Type>
+				<Name LcId="1033">EL2521-0024 1Ch. Pulse Train 24V DC Output</Name>
+				<Name LcId="1031">EL2521-0024 1K. Pulse Train 24V DC Ausgang</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>280</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>252</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>253</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>511</AddInfo>
+					</ChannelInfo>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>0</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..5] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>6</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..9] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>80</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>10</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(6)</Name>
+								<BitSize>48</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0800EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0803EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1400</Name>
+								<BitSize>96</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude RxPDOs</Name>
+									<Type>ARRAY [0..9] OF BYTE</Type>
+									<BitSize>80</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1601</Name>
+								<BitSize>208</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1602</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1604</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1800</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1801</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>TxPDO-Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A01</Name>
+								<BitSize>336</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>SubIndex 009</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>SubIndex 010</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C00ARR</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C00</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>280</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>192</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>256</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Status</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data In</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6010</Name>
+								<BitSize>24</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sel. Ack/End counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Status of input target</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Status of input zero</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter done</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Counter underflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Counter overflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Ctrl</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data Out</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7010</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Frequency select</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Disable ramp</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Go counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Frequency value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Target counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>40</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Set counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Rising edge clears/sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0800EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Rising edge sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0801EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>15</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>28</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8001</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8010</Name>
+								<BitSize>192</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0802EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0803EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>22</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>23</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>24</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8800</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Target counter state</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTA000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Counter extension</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>96</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>112</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>96</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>89130000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(6)</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>454c323532312d30303234</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230d909</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>1800f803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Serial number</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x10f0</Index>
+								<Name>Backup parameter handling</Name>
+								<Type>DT10F0</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Checksum</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1400</Index>
+								<Name>RxPDO-Par</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>01160416071602160516</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1401</Index>
+								<Name>PTO RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160000000000000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1402</Index>
+								<Name>ENC RxPDO-Par Control compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160516071600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1404</Index>
+								<Name>PTO RxPDO-Par Target compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
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+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>1</MinValue>
+											<MaxValue>65535</MaxValue>
+											<DefaultValue>100</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>0</MinValue>
+											<MaxValue>32767</MaxValue>
+											<DefaultValue>50</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8800</Index>
+								<Name>Volatile settings</Name>
+								<Type>DT8800</Type>
+								<BitSize>64</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Target counter state</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum frequency</Name>
+										<Info>
+											<MinValue>0</MinValue>
+											<MaxValue>32767</MaxValue>
+											<DefaultValue>0</DefaultValue>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xa000</Index>
+								<Name>Diagnostic parameter</Name>
+								<Type>DTA000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter extension</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0300</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>112</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fc000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fd000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>ff010000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="64" MaxSize="128" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="64" MaxSize="128" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>Outputs</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1601</Index>
+					<Name>PTO Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Frequency select</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Disable ramp</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Go counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Frequency value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1604</Index>
+					<Name>PTO Target compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1607</Index>
+					<Name>PTO Target</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>ENC Control compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1605</Index>
+					<Name>ENC Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>Inputs</Name>
+					<Exclude>#x1a01</Exclude>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a05</Exclude>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Status</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data In</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
+					<Name>PTO Status</Name>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sel. Ack/End counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Ramp active</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of input target</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of input zero</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>6</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1801</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a02</Index>
+					<Name>ENC Status compact</Name>
+					<Exclude>#x1a05</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a05</Index>
+					<Name>ENC Status</Name>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1805</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Dc>
+					<OpMode>
+						<Name>Synchron</Name>
+						<Desc>FreeRun/SM-Synchron</Desc>
+						<AssignActivate>#x0</AssignActivate>
+						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DC</Name>
+						<Desc>DC-Synchron</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030c32000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09d93052" RevisionNo="#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>
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+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>1</MinValue>
+											<MaxValue>65535</MaxValue>
+											<DefaultValue>100</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>0</MinValue>
+											<MaxValue>32767</MaxValue>
+											<DefaultValue>50</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8010</Index>
+								<Name>PTO Settings</Name>
+								<Type>DT8010</Type>
+								<BitSize>192</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>18</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Emergency ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog timer deactive</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sign/amount representation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Travel distance control active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operating mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Negative logic</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 1</Name>
+										<Info>
+											<MinValue>100</MinValue>
+											<MaxValue>500000</MaxValue>
+											<DefaultValue>50000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>100</MinValue>
+											<MaxValue>500000</MaxValue>
+											<DefaultValue>100000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>1</MinValue>
+											<MaxValue>65535</MaxValue>
+											<DefaultValue>100</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>0</MinValue>
+											<MaxValue>32767</MaxValue>
+											<DefaultValue>50</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8800</Index>
+								<Name>Volatile settings</Name>
+								<Type>DT8800</Type>
+								<BitSize>64</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Target counter state</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum frequency</Name>
+										<Info>
+											<MinValue>0</MinValue>
+											<MaxValue>32767</MaxValue>
+											<DefaultValue>0</DefaultValue>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xa000</Index>
+								<Name>Diagnostic parameter</Name>
+								<Type>DTA000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter extension</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0300</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>112</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fc000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fd000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>ff010000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="54" MaxSize="54" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="54" MaxSize="54" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>Outputs</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1601</Index>
+					<Name>PTO Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>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>
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+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<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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+										<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>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
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+							<DataType>
+								<Name>DTF000</Name>
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+								<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>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
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+									<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>
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+									<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>
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+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
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+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
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+										<Access>rw</Access>
+										<Category>o</Category>
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+								<SubItem>
+									<Name>Elements</Name>
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+									<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>
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+								<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>454c323532312d30303234</DefaultData>
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+								<Flags>
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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>
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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>
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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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+								<Name>Identity</Name>
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+										<Name>SubIndex 000</Name>
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+											<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>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>1800fa03</DefaultData>
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+									<SubItem>
+										<Name>Serial number</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
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+							<Object>
+								<Index>#x1400</Index>
+								<Name>RxPDO-Par</Name>
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+											<DefaultData>06</DefaultData>
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+										<Name>Exclude RxPDOs</Name>
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+							<Object>
+								<Index>#x1401</Index>
+								<Name>PTO RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
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+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
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+											<DefaultData>06</DefaultData>
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+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
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+									<Category>o</Category>
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+							<Object>
+								<Index>#x1402</Index>
+								<Name>ENC RxPDO-Par Control compact</Name>
+								<Type>DT1400</Type>
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+								<Info>
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+										<Name>SubIndex 000</Name>
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+											<DefaultData>06</DefaultData>
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+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
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+									<Category>o</Category>
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+							<Object>
+								<Index>#x1404</Index>
+								<Name>PTO RxPDO-Par Target compact</Name>
+								<Type>DT1400</Type>
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+											<DefaultData>06</DefaultData>
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+										<Name>Exclude RxPDOs</Name>
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+								</Flags>
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+							<Object>
+								<Index>#x1405</Index>
+								<Name>ENC RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
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+											<DefaultData>06</DefaultData>
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+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160216041600000000</DefaultData>
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+								<Flags>
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+									<Category>o</Category>
+								</Flags>
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+							<Object>
+								<Index>#x1407</Index>
+								<Name>PTO RxPDO-Par Target</Name>
+								<Type>DT1400</Type>
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+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
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+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
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+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1600</Index>
+								<Name>RxPDO-Map</Name>
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+								<Name>PTO RxPDO-Map Control</Name>
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+								<Name>ENC RxPDO-Map Control compact</Name>
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+								<Name>ENC RxPDO-Map Control</Name>
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+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7010</Index>
+								<Name>PTO Outputs</Name>
+								<Type>DT7010</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>12</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency select</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Disable ramp</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Go counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Target counter value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7020</Index>
+								<Name>ENC Outputs</Name>
+								<Type>DT7020</Type>
+								<BitSize>64</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>11</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Set counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Set counter value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8000</Index>
+								<Name>Feature bits</Name>
+								<Type>DT8000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>0f</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Emergency ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog timer deactive</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sign/amount representation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Rising edge clears/sets counter</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Travel distance control active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Rising edge sets counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operating mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Negative logic</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8001</Index>
+								<Name>User settings</Name>
+								<Type>DT8001</Type>
+								<BitSize>176</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>08</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 1</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#xc350</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#x186a0</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#xffff</MaxValue>
+											<DefaultValue>#x64</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#x7fff</MaxValue>
+											<DefaultValue>#x32</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8010</Index>
+								<Name>PTO Settings</Name>
+								<Type>DT8010</Type>
+								<BitSize>192</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>18</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Emergency ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog timer deactive</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sign/amount representation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Travel distance control active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operating mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Negative logic</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 1</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#xc350</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#x186a0</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#xffff</MaxValue>
+											<DefaultValue>#x64</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#x7fff</MaxValue>
+											<DefaultValue>#x32</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8800</Index>
+								<Name>Volatile settings</Name>
+								<Type>DT8800</Type>
+								<BitSize>64</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Target counter state</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum frequency</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#x7fff</MaxValue>
+											<DefaultValue>#x0</DefaultValue>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xa000</Index>
+								<Name>Diagnostic parameter</Name>
+								<Type>DTA000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter extension</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0300</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>112</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fc000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fd000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>ff010000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="54" MaxSize="128" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="54" MaxSize="128" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>Outputs</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1601</Index>
+					<Name>PTO Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Frequency select</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Disable ramp</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Go counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Frequency value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1604</Index>
+					<Name>PTO Target compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1607</Index>
+					<Name>PTO Target</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>ENC Control compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1605</Index>
+					<Name>ENC Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>Inputs</Name>
+					<Exclude>#x1a01</Exclude>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a05</Exclude>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Status</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data In</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
+					<Name>PTO Status</Name>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sel. Ack/End counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Ramp active</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Status of input target</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Status of input zero</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>6</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1801</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a02</Index>
+					<Name>ENC Status compact</Name>
+					<Exclude>#x1a05</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a05</Index>
+					<Name>ENC Status</Name>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1805</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Dc>
+					<OpMode>
+						<Name>Synchron</Name>
+						<Desc>FreeRun/SM-Synchron</Desc>
+						<AssignActivate>#x0</AssignActivate>
+						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DC</Name>
+						<Desc>DC-Synchron</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0 Input="0">0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030c32000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09d93052" RevisionNo="#x3F80019">EL2521-0025</Type>
+				<Name LcId="1033">EL2521-0025 1Ch. Pulse Train 24V DC Output negative</Name>
+				<Name LcId="1031">EL2521-0025 1K. Pulse Train 24V DC Ausgang negativ</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>280</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>252</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>253</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>511</AddInfo>
+					</ChannelInfo>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>0</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..5] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>6</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..9] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>80</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>10</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(6)</Name>
+								<BitSize>48</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0800EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0803EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1400</Name>
+								<BitSize>96</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude RxPDOs</Name>
+									<Type>ARRAY [0..9] OF BYTE</Type>
+									<BitSize>80</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1601</Name>
+								<BitSize>208</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1602</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1604</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1800</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1801</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>TxPDO-Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A01</Name>
+								<BitSize>336</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>SubIndex 009</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>SubIndex 010</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C00ARR</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C00</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>280</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>192</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>256</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Status</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data In</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6010</Name>
+								<BitSize>24</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sel. Ack/End counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Status of input target</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Status of input zero</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter done</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Counter underflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Counter overflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Ctrl</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data Out</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7010</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Frequency select</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Disable ramp</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Go counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Frequency value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Target counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>40</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Set counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Rising edge clears/sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0800EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Rising edge sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0801EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>15</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>28</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8001</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8010</Name>
+								<BitSize>192</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0802EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0803EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>22</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>23</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>24</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8800</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Target counter state</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTA000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Counter extension</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>96</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>112</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>96</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>89130000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(6)</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>454c323532312d30303235</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230d909</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>1900f803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Serial number</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x10f0</Index>
+								<Name>Backup parameter handling</Name>
+								<Type>DT10F0</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Checksum</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1400</Index>
+								<Name>RxPDO-Par</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>01160416071602160516</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1401</Index>
+								<Name>PTO RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160000000000000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1402</Index>
+								<Name>ENC RxPDO-Par Control compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160516071600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1404</Index>
+								<Name>PTO RxPDO-Par Target compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160516071600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1405</Index>
+								<Name>ENC RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160216041600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1407</Index>
+								<Name>PTO RxPDO-Par Target</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160216041600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1600</Index>
+								<Name>RxPDO-Map</Name>
+								<Type>DT1600</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10010070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>10020070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1601</Index>
+								<Name>PTO RxPDO-Map Control</Name>
+								<Type>DT1601</Type>
+								<BitSize>208</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>01011070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>01021070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>01031070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 004</Name>
+										<Info>
+											<DefaultData>05000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 005</Name>
+										<Info>
+											<DefaultData>08000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 006</Name>
+										<Info>
+											<DefaultData>10111070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1602</Index>
+								<Name>ENC RxPDO-Map Control compact</Name>
+								<Type>DT1602</Type>
+								<BitSize>176</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>05</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>01032070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>05000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 004</Name>
+										<Info>
+											<DefaultData>08000000</DefaultData>
+										</Info>
+									</SubItem>
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+									<SubItem>
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+									<SubItem>
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+									<SubItem>
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+									<SubItem>
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+									<SubItem>
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+									<SubItem>
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+									<SubItem>
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+										<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>
+							<Object>
+								<Index>#x6000</Index>
+								<Name>Inputs</Name>
+								<Type>DT6000</Type>
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+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Status</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Data In</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x6010</Index>
+								<Name>PTO Inputs</Name>
+								<Type>DT6010</Type>
+								<BitSize>24</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>10</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sel. Ack/End counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Status of input target</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Status of input zero</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Error</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x6020</Index>
+								<Name>ENC Inputs</Name>
+								<Type>DT6020</Type>
+								<BitSize>56</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>16</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Set counter done</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter underflow</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter overflow</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
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+							</Object>
+							<Object>
+								<Index>#x7000</Index>
+								<Name>Outputs</Name>
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+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Ctrl</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Data Out</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
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+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7010</Index>
+								<Name>PTO Outputs</Name>
+								<Type>DT7010</Type>
+								<BitSize>72</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>12</DefaultData>
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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>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
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+							</Object>
+							<Object>
+								<Index>#x7020</Index>
+								<Name>ENC Outputs</Name>
+								<Type>DT7020</Type>
+								<BitSize>56</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>11</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Set counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Set counter value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8000</Index>
+								<Name>Feature bits</Name>
+								<Type>DT8000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>0f</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Emergency ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog timer deactive</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sign/amount representation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Rising edge clears/sets counter</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Travel distance control active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Rising edge sets counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operating mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Negative logic</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8001</Index>
+								<Name>User settings</Name>
+								<Type>DT8001</Type>
+								<BitSize>176</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>08</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 1</Name>
+										<Info>
+											<MinValue>100</MinValue>
+											<MaxValue>500000</MaxValue>
+											<DefaultValue>50000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>100</MinValue>
+											<MaxValue>500000</MaxValue>
+											<DefaultValue>100000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>1</MinValue>
+											<MaxValue>65535</MaxValue>
+											<DefaultValue>100</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>0</MinValue>
+											<MaxValue>32767</MaxValue>
+											<DefaultValue>50</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8010</Index>
+								<Name>PTO Settings</Name>
+								<Type>DT8010</Type>
+								<BitSize>192</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>18</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Emergency ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog timer deactive</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sign/amount representation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Travel distance control active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operating mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
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+									<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>
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+							</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>
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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>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>112</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fc000000</DefaultData>
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+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fd000000</DefaultData>
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+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>ff010000</DefaultData>
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+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="64" MaxSize="128" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="64" MaxSize="128" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>Outputs</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1601</Index>
+					<Name>PTO Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Frequency select</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Disable ramp</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Go counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Frequency value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1604</Index>
+					<Name>PTO Target compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1607</Index>
+					<Name>PTO Target</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>ENC Control compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1605</Index>
+					<Name>ENC Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>Inputs</Name>
+					<Exclude>#x1a01</Exclude>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a05</Exclude>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Status</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data In</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
+					<Name>PTO Status</Name>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sel. Ack/End counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Ramp active</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of input target</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of input zero</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>6</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1801</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a02</Index>
+					<Name>ENC Status compact</Name>
+					<Exclude>#x1a05</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a05</Index>
+					<Name>ENC Status</Name>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1805</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Dc>
+					<OpMode>
+						<Name>Synchron</Name>
+						<Desc>FreeRun/SM-Synchron</Desc>
+						<AssignActivate>#x0</AssignActivate>
+						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DC</Name>
+						<Desc>DC-Synchron</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030c32000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09d93052" RevisionNo="#x3F90019">EL2521-0025</Type>
+				<HideType RevisionNo="#x3F80019"/>
+				<Name LcId="1033">EL2521-0025 1Ch. Pulse Train 24V DC Output negative</Name>
+				<Name LcId="1031">EL2521-0025 1K. Pulse Train 24V DC Ausgang negativ</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>280</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>252</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>253</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>511</AddInfo>
+					</ChannelInfo>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>0</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..5] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>6</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..9] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>80</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>10</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(6)</Name>
+								<BitSize>48</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0800EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0803EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1400</Name>
+								<BitSize>96</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude RxPDOs</Name>
+									<Type>ARRAY [0..9] OF BYTE</Type>
+									<BitSize>80</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1601</Name>
+								<BitSize>208</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1602</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1604</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1800</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1801</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>TxPDO-Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A01</Name>
+								<BitSize>336</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>SubIndex 009</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>SubIndex 010</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C00ARR</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C00</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>280</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>192</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>256</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Status</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data In</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6010</Name>
+								<BitSize>24</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sel. Ack/End counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Status of input target</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Status of input zero</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter done</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Counter underflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Counter overflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Ctrl</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data Out</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7010</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Frequency select</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Disable ramp</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Go counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Frequency value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Target counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>40</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Set counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Rising edge clears/sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0800EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Rising edge sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0801EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>15</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>28</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8001</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8010</Name>
+								<BitSize>192</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0802EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0803EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>22</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>23</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>24</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8800</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Target counter state</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTA000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Counter extension</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>96</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>112</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>96</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>89130000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(6)</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>454c323532312d30303235</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230d909</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>1900f803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Serial number</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x10f0</Index>
+								<Name>Backup parameter handling</Name>
+								<Type>DT10F0</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Checksum</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1400</Index>
+								<Name>RxPDO-Par</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>01160416071602160516</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1401</Index>
+								<Name>PTO RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160000000000000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1402</Index>
+								<Name>ENC RxPDO-Par Control compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160516071600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1404</Index>
+								<Name>PTO RxPDO-Par Target compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160516071600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1405</Index>
+								<Name>ENC RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160216041600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
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+								<Name>Volatile settings</Name>
+								<Type>DT8800</Type>
+								<BitSize>64</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Target counter state</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum frequency</Name>
+										<Info>
+											<MinValue>0</MinValue>
+											<MaxValue>32767</MaxValue>
+											<DefaultValue>0</DefaultValue>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xa000</Index>
+								<Name>Diagnostic parameter</Name>
+								<Type>DTA000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter extension</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0300</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>112</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fc000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fd000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>ff010000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="54" MaxSize="54" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="54" MaxSize="54" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>Outputs</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1601</Index>
+					<Name>PTO Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Frequency select</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Disable ramp</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Go counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Frequency value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1604</Index>
+					<Name>PTO Target compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1607</Index>
+					<Name>PTO Target</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>ENC Control compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1605</Index>
+					<Name>ENC Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>Inputs</Name>
+					<Exclude>#x1a01</Exclude>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a05</Exclude>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Status</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data In</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
+					<Name>PTO Status</Name>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sel. Ack/End counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Ramp active</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of input target</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of input zero</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>6</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1801</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a02</Index>
+					<Name>ENC Status compact</Name>
+					<Exclude>#x1a05</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a05</Index>
+					<Name>ENC Status</Name>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1805</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Dc>
+					<OpMode>
+						<Name>Synchron</Name>
+						<Desc>FreeRun/SM-Synchron</Desc>
+						<AssignActivate>#x0</AssignActivate>
+						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DC</Name>
+						<Desc>DC-Synchron</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030c32000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x9d93052" RevisionNo="#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>
+									<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>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>
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+								<Index>#x8001</Index>
+								<Name>User settings</Name>
+								<Type>DT8001</Type>
+								<BitSize>176</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>08</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 1</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#xc350</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#x186a0</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#xffff</MaxValue>
+											<DefaultValue>#x64</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#x7fff</MaxValue>
+											<DefaultValue>#x32</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8010</Index>
+								<Name>PTO Settings</Name>
+								<Type>DT8010</Type>
+								<BitSize>192</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>18</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Emergency ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog timer deactive</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sign/amount representation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Travel distance control active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operating mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Negative logic</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 1</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#xc350</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#x186a0</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#xffff</MaxValue>
+											<DefaultValue>#x64</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#x7fff</MaxValue>
+											<DefaultValue>#x32</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8800</Index>
+								<Name>Volatile settings</Name>
+								<Type>DT8800</Type>
+								<BitSize>64</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Target counter state</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum frequency</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#x7fff</MaxValue>
+											<DefaultValue>#x0</DefaultValue>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xa000</Index>
+								<Name>Diagnostic parameter</Name>
+								<Type>DTA000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter extension</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0300</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>112</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fc000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fd000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>ff010000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="54" MaxSize="128" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="54" MaxSize="128" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>Outputs</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1601</Index>
+					<Name>PTO Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Frequency select</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Disable ramp</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Go counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Frequency value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1604</Index>
+					<Name>PTO Target compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1607</Index>
+					<Name>PTO Target</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>ENC Control compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1605</Index>
+					<Name>ENC Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>Inputs</Name>
+					<Exclude>#x1a01</Exclude>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a05</Exclude>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Status</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data In</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
+					<Name>PTO Status</Name>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sel. Ack/End counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Ramp active</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Status of input target</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Status of input zero</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>6</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1801</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a02</Index>
+					<Name>ENC Status compact</Name>
+					<Exclude>#x1a05</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a05</Index>
+					<Name>ENC Status</Name>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1805</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Dc>
+					<OpMode>
+						<Name>Synchron</Name>
+						<Desc>FreeRun/SM-Synchron</Desc>
+						<AssignActivate>#x0</AssignActivate>
+						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DC</Name>
+						<Desc>DC-Synchron</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0 Input="0">0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030c32000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09d93052" RevisionNo="#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>
+									<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>
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+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7020</Index>
+								<Name>PLS Outputs</Name>
+								<Type>DT7020</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>12</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable PLS</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Output</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Switch on value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Switch off value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8000</Index>
+								<Name>PTO Settings</Name>
+								<Type>DT8000</Type>
+								<BitSize>192</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>18</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Emergency ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog timer deactive</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sign/amount representation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Travel distance control active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Output set active low</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operating mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Negative logic</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 1</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#xc350</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#x186a0</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#xffff</MaxValue>
+											<DefaultValue>#x64</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#x7fff</MaxValue>
+											<DefaultValue>#x32</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0300</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>112</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fd000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>ff010000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>00020000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="54" MaxSize="128" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="54" MaxSize="128" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="14" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="10" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>PTO Control</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Frequency select</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Disable ramp</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Go counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Frequency value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1603</Index>
+					<Name>PTO Target compact</Name>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1606</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1606</Index>
+					<Name>PTO Target</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1603</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1601</Index>
+					<Name>ENC Control compact</Name>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1606</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Enable latch extern on positive edge</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Enable latch extern on negative edge</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1604</Index>
+					<Name>ENC Control</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1603</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Enable latch extern on positive edge</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Enable latch extern on negative edge</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1602</Index>
+					<Name>PLS Control compact</Name>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1606</Exclude>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Enable PLS</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Switch on value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Switch off value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1605</Index>
+					<Name>PLS Control</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1603</Exclude>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Enable PLS</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Switch on value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Switch off value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>PTO Status</Name>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sel. Ack/End counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Ramp active</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>6</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1800</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a01</Index>
+					<Name>ENC Status compact</Name>
+					<Exclude>#x1a04</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Latch extern valid</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>13</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of extern latch</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1801</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Latch value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a04</Index>
+					<Name>ENC Status</Name>
+					<Exclude>#x1a01</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Latch extern valid</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>13</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of extern latch</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1804</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Latch value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a02</Index>
+					<Name>PLS Status</Name>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>PLS Enabled</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>9</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Dc>
+					<OpMode>
+						<Name>Synchron</Name>
+						<Desc>FreeRun/SM-Synchron</Desc>
+						<AssignActivate>#x0</AssignActivate>
+						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DC</Name>
+						<Desc>DC-Synchron</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DCIN</Name>
+						<Desc>DC-Synchron (input based)</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0 Input="1">0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030c32000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#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>
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+							<Object>
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+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Target counter value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7010</Index>
+								<Name>ENC Outputs</Name>
+								<Type>DT7010</Type>
+								<BitSize>64</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>11</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable latch extern on positive edge</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Set counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable latch extern on negative edge</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Set counter value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7020</Index>
+								<Name>PLS Outputs</Name>
+								<Type>DT7020</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>12</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable PLS</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Output</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Switch on value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Switch off value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8000</Index>
+								<Name>PTO Settings</Name>
+								<Type>DT8000</Type>
+								<BitSize>192</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>18</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Emergency ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog timer deactive</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sign/amount representation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Travel distance control active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Output set active low</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operating mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Negative logic</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 1</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#xc350</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#x186a0</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#xffff</MaxValue>
+											<DefaultValue>#x64</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#x7fff</MaxValue>
+											<DefaultValue>#x32</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0300</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>112</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fd000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>ff010000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>00020000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="54" MaxSize="54" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="54" MaxSize="54" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="14" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="10" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>PTO Control</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Frequency select</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Disable ramp</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Go counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Frequency value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1603</Index>
+					<Name>PTO Target compact</Name>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1606</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1606</Index>
+					<Name>PTO Target</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1603</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1601</Index>
+					<Name>ENC Control compact</Name>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1606</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Enable latch extern on positive edge</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Enable latch extern on negative edge</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1604</Index>
+					<Name>ENC Control</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1603</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Enable latch extern on positive edge</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Enable latch extern on negative edge</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1602</Index>
+					<Name>PLS Control compact</Name>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1606</Exclude>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Enable PLS</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Switch on value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Switch off value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1605</Index>
+					<Name>PLS Control</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1603</Exclude>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Enable PLS</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Switch on value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Switch off value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>PTO Status</Name>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sel. Ack/End counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Ramp active</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>6</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1800</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a01</Index>
+					<Name>ENC Status compact</Name>
+					<Exclude>#x1a04</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Latch extern valid</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>13</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of extern latch</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1801</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Latch value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a04</Index>
+					<Name>ENC Status</Name>
+					<Exclude>#x1a01</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Latch extern valid</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>13</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of extern latch</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1804</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Latch value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a02</Index>
+					<Name>PLS Status</Name>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>PLS Enabled</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>9</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Dc>
+					<OpMode>
+						<Name>Synchron</Name>
+						<Desc>FreeRun/SM-Synchron</Desc>
+						<AssignActivate>#x0</AssignActivate>
+						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DC</Name>
+						<Desc>DC-Synchron</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DCIN</Name>
+						<Desc>DC-Synchron (input based)</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0 Input="1">0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030c32000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x9d93052" RevisionNo="#x0012007c">EL2521-0124</Type>
+				<HideType RevisionNo="#x0010007c"/>
+				<HideType RevisionNo="#x0011007c"/>
+				<Name LcId="1033">EL2521-0124 1Ch. Pulse Train 24V DC Output Capture/Compare</Name>
+				<Name LcId="1031">EL2521-0124 1K. Pulse Train 24V DC Ausgang Capture/Compare</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>280</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+					<VendorSpecific>
+						<TwinCAT>
+							<AlternativeSmMapping Default="1">
+								<Name>Standard 16 Bit (MDP 253/511/512)</Name>
+								<Sm No="2">
+									<Pdo>#x1600</Pdo>
+									<Pdo>#x1601</Pdo>
+									<Pdo>#x1602</Pdo>
+									<Pdo>#x1603</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a00</Pdo>
+									<Pdo>#x1a01</Pdo>
+									<Pdo>#x1a02</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+							<AlternativeSmMapping>
+								<Name>Standard 32 Bit (MDP 253/511/512)</Name>
+								<Sm No="2">
+									<Pdo>#x1600</Pdo>
+									<Pdo>#x1604</Pdo>
+									<Pdo>#x1605</Pdo>
+									<Pdo>#x1606</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a00</Pdo>
+									<Pdo>#x1a02</Pdo>
+									<Pdo>#x1a04</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+						</TwinCAT>
+					</VendorSpecific>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>253</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>511</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>512</AddInfo>
+					</ChannelInfo>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>2</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..1] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>16</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..5] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>6</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(11)</Name>
+								<BitSize>88</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0803EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1401</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude RxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>208</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1601</Name>
+								<BitSize>240</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1603</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1801</Name>
+								<BitSize>40</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..1] OF BYTE</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A00</Name>
+								<BitSize>272</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A01</Name>
+								<BitSize>432</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>SubIndex 009</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>SubIndex 010</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SubIndex 011</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>336</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>SubIndex 012</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>368</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>SubIndex 013</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>400</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C00ARR</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C00</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>64</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>64</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>344</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Minimum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Maximum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>288</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>320</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>336</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sel. Ack/End counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6010</Name>
+								<BitSize>96</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Latch extern valid</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter done</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Counter underflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Counter overflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Status of extern latch</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>28</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Latch value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6020</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>PLS Enabled</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Status of output</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Frequency select</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Disable ramp</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Go counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Frequency value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Target counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7010</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Enable latch extern on positive edge</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Enable latch extern on negative edge</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Set counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7020</Name>
+								<BitSize>96</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Enable PLS</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Output</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Switch on value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Switch off value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>192</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0802EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Output set active low</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0803EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>22</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>23</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>24</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
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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>DTF000</Name>
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+								<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>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
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+									<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>
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+									<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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+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
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+							<DataType>
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+								<SubItem>
+									<SubIdx>0</SubIdx>
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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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+						</DataTypes>
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+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>89130000</DefaultData>
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+								<Flags>
+									<Access>ro</Access>
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+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(11)</Type>
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+								<Info>
+									<DefaultData>454c323532312d30313234</DefaultData>
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+								<Flags>
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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>
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+									<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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+									<Access>ro</Access>
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+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
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+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
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+											<DefaultData>04</DefaultData>
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+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
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+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230d909</DefaultData>
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+									<SubItem>
+										<Name>Revision</Name>
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+											<DefaultData>7c001200</DefaultData>
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+									<SubItem>
+										<Name>Serial number</Name>
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+							<Object>
+								<Index>#x1401</Index>
+								<Name>ENC RxPDO-Par Control compact</Name>
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+							<Object>
+								<Index>#x1402</Index>
+								<Name>PLS RxPDO-Par Control compact</Name>
+								<Type>DT1401</Type>
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+									<SubItem>
+										<Name>SubIndex 000</Name>
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+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
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+							<Object>
+								<Index>#x1403</Index>
+								<Name>PTO RxPDO-Par Target compact</Name>
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+								<Index>#x1404</Index>
+								<Name>ENC RxPDO-Par Control</Name>
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+								<Index>#x1405</Index>
+								<Name>PLS RxPDO-Par Control</Name>
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+								<Index>#x1406</Index>
+								<Name>PTO RxPDO-Par Target</Name>
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+								<Name>PTO RxPDO-Map Control</Name>
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+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x6010</Index>
+								<Name>ENC Inputs</Name>
+								<Type>DT6010</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>12</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>Latch extern valid</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Set counter done</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter underflow</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter overflow</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Status of extern latch</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Latch value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x6020</Index>
+								<Name>PLS Inputs</Name>
+								<Type>DT6020</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>10</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>PLS Enabled</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Status of output</Name>
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+											<DefaultData>00</DefaultData>
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+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
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+							</Object>
+							<Object>
+								<Index>#x7000</Index>
+								<Name>PTO Outputs</Name>
+								<Type>DT7000</Type>
+								<BitSize>80</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>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7010</Index>
+								<Name>ENC Outputs</Name>
+								<Type>DT7010</Type>
+								<BitSize>64</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>11</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable latch extern on positive edge</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Set counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable latch extern on negative edge</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Set counter value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
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+							<Object>
+								<Index>#x7020</Index>
+								<Name>PLS Outputs</Name>
+								<Type>DT7020</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>12</DefaultData>
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+									<SubItem>
+										<Name>Enable PLS</Name>
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+											<DefaultData>00</DefaultData>
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+											<DefaultData>00</DefaultData>
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+										<Name>Switch on value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
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+									<SubItem>
+										<Name>Switch off value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
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+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
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+							</Object>
+							<Object>
+								<Index>#x8000</Index>
+								<Name>PTO Settings</Name>
+								<Type>DT8000</Type>
+								<BitSize>192</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>18</DefaultData>
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+									<SubItem>
+										<Name>Emergency ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog timer deactive</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sign/amount representation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Travel distance control active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Output set active low</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operating mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Negative logic</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 1</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#xc350</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#x186a0</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#xffff</MaxValue>
+											<DefaultValue>#x64</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#x7fff</MaxValue>
+											<DefaultValue>#x32</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0300</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>112</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
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+										<Name>SubIndex 001</Name>
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+											<DefaultData>fd000000</DefaultData>
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+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>ff010000</DefaultData>
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+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>00020000</DefaultData>
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+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="54" MaxSize="128" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="54" MaxSize="128" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="14" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="10" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>PTO Control</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Frequency select</Name>
+						<DataType>BOOL</DataType>
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+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Disable ramp</Name>
+						<DataType>BOOL</DataType>
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+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Go counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__Gap</Name>
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+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
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+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Frequency value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1603</Index>
+					<Name>PTO Target compact</Name>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1606</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UINT</DataType>
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+				<RxPdo Fixed="1">
+					<Index>#x1606</Index>
+					<Name>PTO Target</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1603</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1601</Index>
+					<Name>ENC Control compact</Name>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1606</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Control__Gap</Name>
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+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable latch extern on positive edge</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable latch extern on negative edge</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1604</Index>
+					<Name>ENC Control</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1603</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable latch extern on positive edge</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable latch extern on negative edge</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+						<Name>Control__Gap</Name>
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+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1602</Index>
+					<Name>PLS Control compact</Name>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1606</Exclude>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable PLS</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Control__Gap</Name>
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+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Output</Name>
+						<DataType>BOOL</DataType>
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+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+						<Name>Control__Gap</Name>
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+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
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+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Switch on value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Switch off value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1605</Index>
+					<Name>PLS Control</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1603</Exclude>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable PLS</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Switch on value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Switch off value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>PTO Status</Name>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sel. Ack/End counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Ramp active</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>6</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1800</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a01</Index>
+					<Name>ENC Status compact</Name>
+					<Exclude>#x1a04</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Latch extern valid</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>13</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Status of extern latch</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1801</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Latch value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a04</Index>
+					<Name>ENC Status</Name>
+					<Exclude>#x1a01</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Latch extern valid</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>13</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Status of extern latch</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1804</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Latch value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a02</Index>
+					<Name>PLS Status</Name>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__PLS Enabled</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Status of output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>9</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Dc>
+					<OpMode>
+						<Name>Synchron</Name>
+						<Desc>FreeRun/SM-Synchron</Desc>
+						<AssignActivate>#x0</AssignActivate>
+						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DC</Name>
+						<Desc>DC-Synchron</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0 Input="0">0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DCIN</Name>
+						<Desc>DC-Synchron (input based)</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0 Input="1">0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030c32000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09D93052" RevisionNo="#x000003E9">EL2521-1001</Type>
+				<Name LcId="1033"><![CDATA[EL2521-1001 1Ch. Pulse Train Output]]></Name>
+				<Name LcId="1031"><![CDATA[EL2521-1001 1K. Pulse Train Ausgang]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>280</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Sm DefaultSize="54" StartAddress="6144" ControlByte="38" Enable="1">MBoxOut</Sm>
+				<Sm DefaultSize="54" StartAddress="6272" ControlByte="34" Enable="1">MBoxIn</Sm>
+				<Sm StartAddress="4096" ControlByte="36" Enable="1">Outputs</Sm>
+				<Sm StartAddress="4352" ControlByte="32" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>Outputs</Name>
+					<Exclude>#x1601</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>8</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>USINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1601</Index>
+					<Name>Outputs</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>8</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>USINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>Inputs</Name>
+					<Exclude>#x1a01</Exclude>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>8</BitLen>
+						<Name>Status</Name>
+						<DataType>USINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data In</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
+					<Name>Inputs</Name>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>8</BitLen>
+						<Name>Status</Name>
+						<DataType>USINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data In</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox>
+					<CoE SdoInfo="1" PdoAssign="1" PdoConfig="0"/>
+					<FoE/>
+				</Mailbox>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>050003000000</ConfigData>
+					<BootStrap>0018f400f418f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09d93052" RevisionNo="#x000103e9">EL2521-1001</Type>
+				<HideType RevisionNo="#x000003E9" ProductRevision="EL2521-1001-0000	"/>
+				<Name LcId="1033"><![CDATA[EL2521-1001 1Ch. Pulse Train Output]]></Name>
+				<Name LcId="1031"><![CDATA[EL2521-1001 1K. Pulse Train Ausgang]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>280</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ProfileNo>5001</ProfileNo>
+					<AddInfo>252</AddInfo>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(11)</Name>
+								<BitSize>88</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(16)</Name>
+								<BitSize>128</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0029</Name>
+								<BitSize>16</BitSize>
+								<EnumInfo>
+									<Text>Free Run</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Synchron</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>SYNC0 Event</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0800</Name>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801</Name>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor Id</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product Code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision Number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial Number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>RxPDO Mapping Element 1: Ctrl</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>RxPDO Mapping Element 2: Data Out</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A00</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>TxPDO Mapping Element 1: Status</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>TxPDO Mapping Element 2: Data In</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C00ARR</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C00</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<MinValue>0</MinValue>
+									<MaxValue>1</MaxValue>
+									<DefaultValue>1</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Assigned RxPDO</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<MinValue>#x1600</MinValue>
+									<MaxValue>#x1600</MaxValue>
+									<DefaultValue>#x1600</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<MinValue>0</MinValue>
+									<MaxValue>1</MaxValue>
+									<DefaultValue>1</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Assigned TxPDO</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<MinValue>#x1600</MinValue>
+									<MaxValue>#x1600</MaxValue>
+									<DefaultValue>#x1600</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Status</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data In</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Ctrl</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data Out</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Rising edge clears/sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0800</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Rising edge sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0801</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>29</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>15</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8001</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<MinValue>#x00</MinValue>
+									<MaxValue>#xffff</MaxValue>
+									<DefaultValue>0</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<MinValue>#x64</MinValue>
+									<MaxValue>#x0007a120</MaxValue>
+									<DefaultValue>50000</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<MinValue>#x64</MinValue>
+									<MaxValue>#x0007a120</MaxValue>
+									<DefaultValue>100000</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<MinValue>#x00</MinValue>
+									<MaxValue>#xffff</MaxValue>
+									<DefaultValue>1000</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<MinValue>#x00</MinValue>
+									<MaxValue>#xffff</MaxValue>
+									<DefaultValue>1000</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<MinValue>#x01</MinValue>
+									<MaxValue>#xffff</MaxValue>
+									<DefaultValue>100</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<MinValue>#x00</MinValue>
+									<MaxValue>#x7fff</MaxValue>
+									<DefaultValue>50</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<MinValue>#x00</MinValue>
+									<MaxValue>#xffff</MaxValue>
+									<DefaultValue>1000</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8800</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Target counter state</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<MinValue>#x00</MinValue>
+									<MaxValue>#xffffffff</MaxValue>
+									<DefaultValue>0</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>48</BitOffs>
+									<MinValue>#x00</MinValue>
+									<MaxValue>#x7fff</MaxValue>
+									<DefaultValue>0</DefaultValue>
+									<Flags>
+										<Access>rw</Access>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTA000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>No of Elements</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Counter extension</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+									</Flags>
+								</SubItem>
+							</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>454c323532312d31303031</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>0400020000005230d909e903010000000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1600</Index>
+								<Name>Outputs</Name>
+								<Type>DT1600</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<DefaultData>02001001007010020070</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1a00</Index>
+								<Name>Inputs</Name>
+								<Type>DT1A00</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<DefaultData>02001001006010020060</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c00</Index>
+								<Name>Sync Manager Type</Name>
+								<Type>DT1C00</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>040001020304</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c01</Index>
+								<Name>Process Data Format</Name>
+								<Type>UINT</Type>
+								<BitSize>16</BitSize>
+								<Info>
+									<DefaultData>0001</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c12</Index>
+								<Name>SM 002 RxPDO Assign</Name>
+								<Type>DT1C12</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>01000016</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1c13</Index>
+								<Name>SM 003 TxPDO Assign</Name>
+								<Type>DT1C13</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>01000016</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x6000</Index>
+								<Name>Inputs</Name>
+								<Type>DT6000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>020000000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7000</Index>
+								<Name>Outputs</Name>
+								<Type>DT7000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>020000000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8000</Index>
+								<Name>Feature bits</Name>
+								<Type>DT8000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>0f003000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8001</Index>
+								<Name>User settings</Name>
+								<Type>DT8001</Type>
+								<BitSize>176</BitSize>
+								<Info>
+									<DefaultData>0800000050c30000a0860100e803e80364003200e803</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8800</Index>
+								<Name>Volatile Settings</Name>
+								<Type>DT8800</Type>
+								<BitSize>64</BitSize>
+								<Info>
+									<DefaultData>0200000000000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xa000</Index>
+								<Name>Diagnostic Parameter</Name>
+								<Type>DTA000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>01000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Profile Settings</Name>
+								<Type>DTF000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>02001001</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code Word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Sm DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>Outputs</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>Inputs</Name>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Status</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data In</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox>
+					<CoE SdoInfo="1" PdoAssign="0" PdoConfig="0"/>
+					<FoE/>
+				</Mailbox>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>050003080000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09d93052" RevisionNo="#x03F803E9">EL2521-1001</Type>
+				<HideType RevisionNo="#x000003E9" ProductRevision="EL2521-1001-0000	"/>
+				<HideType RevisionNo="#x000103E9" ProductRevision="EL2521-1001-0001	"/>
+				<Name LcId="1033">EL2521-1001 1Ch. Pulse Train Output</Name>
+				<Name LcId="1031">EL2521-1001 1K. Pulse Train Ausgang</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>280</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>252</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>253</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>511</AddInfo>
+					</ChannelInfo>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>0</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..5] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>6</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..9] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>80</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>10</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(6)</Name>
+								<BitSize>48</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0800EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0803EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1400</Name>
+								<BitSize>96</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude RxPDOs</Name>
+									<Type>ARRAY [0..9] OF BYTE</Type>
+									<BitSize>80</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1601</Name>
+								<BitSize>208</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1602</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1604</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1800</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1801</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>TxPDO-Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A01</Name>
+								<BitSize>336</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>SubIndex 009</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>SubIndex 010</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C00ARR</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C00</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>280</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>192</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>256</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Status</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data In</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6010</Name>
+								<BitSize>24</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sel. Ack/End counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Status of input target</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Status of input zero</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter done</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Counter underflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Counter overflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Ctrl</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data Out</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7010</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Frequency select</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Disable ramp</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Go counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Frequency value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Target counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>40</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Set counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Rising edge clears/sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0800EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Rising edge sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0801EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>15</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>28</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8001</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8010</Name>
+								<BitSize>192</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0802EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0803EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>22</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>23</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>24</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8800</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Target counter state</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTA000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Counter extension</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>96</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>112</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>96</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>89130000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(6)</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>454c32353231</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230d909</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>e903f803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Serial number</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x10f0</Index>
+								<Name>Backup parameter handling</Name>
+								<Type>DT10F0</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Checksum</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1400</Index>
+								<Name>RxPDO-Par</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>01160416071602160516</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1401</Index>
+								<Name>PTO RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160000000000000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1402</Index>
+								<Name>ENC RxPDO-Par Control compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160516071600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1404</Index>
+								<Name>PTO RxPDO-Par Target compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160516071600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1405</Index>
+								<Name>ENC RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160216041600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1407</Index>
+								<Name>PTO RxPDO-Par Target</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160216041600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1600</Index>
+								<Name>RxPDO-Map</Name>
+								<Type>DT1600</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10010070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>10020070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1601</Index>
+								<Name>PTO RxPDO-Map Control</Name>
+								<Type>DT1601</Type>
+								<BitSize>208</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>01011070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>01021070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>01031070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 004</Name>
+										<Info>
+											<DefaultData>05000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 005</Name>
+										<Info>
+											<DefaultData>08000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 006</Name>
+										<Info>
+											<DefaultData>10111070</DefaultData>
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+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1602</Index>
+								<Name>ENC RxPDO-Map Control compact</Name>
+								<Type>DT1602</Type>
+								<BitSize>176</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>05</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
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+											<DefaultData>01032070</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>05000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 004</Name>
+										<Info>
+											<DefaultData>08000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 005</Name>
+										<Info>
+											<DefaultData>10112070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1604</Index>
+								<Name>PTO RxPDO-Map Target compact</Name>
+								<Type>DT1604</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
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+									<SubItem>
+										<Name>SubIndex 001</Name>
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+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1605</Index>
+								<Name>ENC RxPDO-Map Control</Name>
+								<Type>DT1602</Type>
+								<BitSize>176</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>05</DefaultData>
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+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
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+											<DefaultData>02000000</DefaultData>
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+									</SubItem>
+									<SubItem>
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+									</SubItem>
+									<SubItem>
+										<Name>Data In</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x6010</Index>
+								<Name>PTO Inputs</Name>
+								<Type>DT6010</Type>
+								<BitSize>24</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>10</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sel. Ack/End counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Status of input target</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Status of input zero</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Error</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x6020</Index>
+								<Name>ENC Inputs</Name>
+								<Type>DT6020</Type>
+								<BitSize>56</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>16</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Set counter done</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter underflow</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter overflow</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7000</Index>
+								<Name>Outputs</Name>
+								<Type>DT7000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ctrl</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Data Out</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7010</Index>
+								<Name>PTO Outputs</Name>
+								<Type>DT7010</Type>
+								<BitSize>72</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>12</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency select</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Disable ramp</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Go counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Target counter value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7020</Index>
+								<Name>ENC Outputs</Name>
+								<Type>DT7020</Type>
+								<BitSize>56</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>11</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Set counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Set counter value</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8000</Index>
+								<Name>Feature bits</Name>
+								<Type>DT8000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>0f</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Emergency ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog timer deactive</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sign/amount representation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Rising edge clears/sets counter</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Travel distance control active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Rising edge sets counter</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operating mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Negative logic</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8001</Index>
+								<Name>User settings</Name>
+								<Type>DT8001</Type>
+								<BitSize>176</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>08</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 1</Name>
+										<Info>
+											<MinValue>100</MinValue>
+											<MaxValue>500000</MaxValue>
+											<DefaultValue>50000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>100</MinValue>
+											<MaxValue>500000</MaxValue>
+											<DefaultValue>100000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>1</MinValue>
+											<MaxValue>65535</MaxValue>
+											<DefaultValue>100</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>0</MinValue>
+											<MaxValue>32767</MaxValue>
+											<DefaultValue>50</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8010</Index>
+								<Name>PTO Settings</Name>
+								<Type>DT8010</Type>
+								<BitSize>192</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>18</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Emergency ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog timer deactive</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sign/amount representation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Travel distance control active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operating mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Negative logic</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 1</Name>
+										<Info>
+											<MinValue>100</MinValue>
+											<MaxValue>500000</MaxValue>
+											<DefaultValue>50000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>100</MinValue>
+											<MaxValue>500000</MaxValue>
+											<DefaultValue>100000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>1</MinValue>
+											<MaxValue>65535</MaxValue>
+											<DefaultValue>100</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>0</MinValue>
+											<MaxValue>32767</MaxValue>
+											<DefaultValue>50</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8800</Index>
+								<Name>Volatile settings</Name>
+								<Type>DT8800</Type>
+								<BitSize>64</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Target counter state</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum frequency</Name>
+										<Info>
+											<MinValue>0</MinValue>
+											<MaxValue>32767</MaxValue>
+											<DefaultValue>0</DefaultValue>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xa000</Index>
+								<Name>Diagnostic parameter</Name>
+								<Type>DTA000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter extension</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0300</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>112</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fc000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fd000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>ff010000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Sm MinSize="64" MaxSize="128" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="64" MaxSize="128" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>Outputs</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1601</Index>
+					<Name>PTO Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Frequency select</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Disable ramp</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Go counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Frequency value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1604</Index>
+					<Name>PTO Target compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1607</Index>
+					<Name>PTO Target</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>ENC Control compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1605</Index>
+					<Name>ENC Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>Inputs</Name>
+					<Exclude>#x1a01</Exclude>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a05</Exclude>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Status</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data In</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
+					<Name>PTO Status</Name>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sel. Ack/End counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Ramp active</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of input target</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status of input zero</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>6</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1801</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a02</Index>
+					<Name>ENC Status compact</Name>
+					<Exclude>#x1a05</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a05</Index>
+					<Name>ENC Status</Name>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Sync Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+					</Entry>
+					<Entry>
+						<Index>#x1805</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Dc>
+					<OpMode>
+						<Name>Synchron</Name>
+						<Desc>FreeRun/SM-Synchron</Desc>
+						<AssignActivate>#x0</AssignActivate>
+						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DC</Name>
+						<Desc>DC-Synchron</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030c32000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x09d93052" RevisionNo="#x03F903E9">EL2521-1001</Type>
+				<HideType RevisionNo="#x000003E9"/>
+				<HideType RevisionNo="#x000103E9"/>
+				<HideType RevisionNo="#x03F803E9"/>
+				<Name LcId="1033">EL2521-1001 1Ch. Pulse Train Output</Name>
+				<Name LcId="1031">EL2521-1001 1K. Pulse Train Ausgang</Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>280</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>252</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>253</AddInfo>
+					</ChannelInfo>
+					<ChannelInfo>
+						<ProfileNo>5001</ProfileNo>
+						<AddInfo>511</AddInfo>
+					</ChannelInfo>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>0</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..5] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>6</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..9] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>80</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>10</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(6)</Name>
+								<BitSize>48</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0800EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0801EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN01</Name>
+								<BaseType>BOOL</BaseType>
+								<BitSize>1</BitSize>
+								<EnumInfo>
+									<Text>10 Hz</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>1 kHz</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0803EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Frequency mod.</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Pulse-dir. ctrl</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Incremental enc.</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1400</Name>
+								<BitSize>96</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude RxPDOs</Name>
+									<Type>ARRAY [0..9] OF BYTE</Type>
+									<BitSize>80</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1601</Name>
+								<BitSize>208</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1602</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1604</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1800</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1801</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Exclude TxPDOs</Name>
+									<Type>ARRAY [0..5] OF BYTE</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>TxPDO-Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A01</Name>
+								<BitSize>336</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>SubIndex 009</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>SubIndex 010</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C00ARR</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C00</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>48</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>280</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>192</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>256</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>272</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Status</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data In</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6010</Name>
+								<BitSize>24</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sel. Ack/End counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Status of input target</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Status of input zero</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter done</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Counter underflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Counter overflow</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Sync Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Ctrl</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Data Out</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7010</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Frequency select</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Disable ramp</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Go counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Frequency value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Target counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>40</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7020</Name>
+								<BitSize>56</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Set counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Set counter value</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Rising edge clears/sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0800EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Rising edge sets counter</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>25</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0801EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>15</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>28</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8001</Name>
+								<BitSize>176</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8010</Name>
+								<BitSize>192</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Emergency ramp active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Watchdog timer deactive</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sign/amount representation</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Ramp function active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Ramp base frequency</Name>
+									<Type>DT0802EN01</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Direct input mode</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Users switch-on-value on wdt</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>10</SubIdx>
+									<Name>Travel distance control active</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>23</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Operating mode</Name>
+									<Type>DT0803EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>24</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>Negative logic</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>26</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Users switch-on-value</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Base frequency 1</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Base frequency 2</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Ramp time constant (rising)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>21</SubIdx>
+									<Name>Ramp time constant (falling)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>22</SubIdx>
+									<Name>Frequency factor (Digit x 10mHz)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>23</SubIdx>
+									<Name>Slowing down frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>24</SubIdx>
+									<Name>Ramp time constant (emergency)</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8800</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Target counter state</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum frequency</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTA000</Name>
+								<BitSize>32</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Counter extension</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>96</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>112</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>96</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>89130000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(6)</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>454c32353231</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230d909</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>e903f803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Serial number</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x10f0</Index>
+								<Name>Backup parameter handling</Name>
+								<Type>DT10F0</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Checksum</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1400</Index>
+								<Name>RxPDO-Par</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>01160416071602160516</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1401</Index>
+								<Name>PTO RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160000000000000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1402</Index>
+								<Name>ENC RxPDO-Par Control compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160516071600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1404</Index>
+								<Name>PTO RxPDO-Par Target compact</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160516071600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1405</Index>
+								<Name>ENC RxPDO-Par Control</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160216041600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1407</Index>
+								<Name>PTO RxPDO-Par Target</Name>
+								<Type>DT1400</Type>
+								<BitSize>96</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Exclude RxPDOs</Name>
+										<Info>
+											<DefaultData>00160216041600000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1600</Index>
+								<Name>RxPDO-Map</Name>
+								<Type>DT1600</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>10010070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>10020070</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1601</Index>
+								<Name>PTO RxPDO-Map Control</Name>
+								<Type>DT1601</Type>
+								<BitSize>208</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
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+									<Category>o</Category>
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+							</Object>
+							<Object>
+								<Index>#x1c13</Index>
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+								<Type>DT1C13</Type>
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+								<Info>
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+							<Object>
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+								<Info>
+									<SubItem>
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+										<Info>
+											<DefaultData>20</DefaultData>
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+									</SubItem>
+									<SubItem>
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+										<Info>
+											<DefaultData>0100</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Cycle time</Name>
+										<Info>
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+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Shift time</Name>
+										<Info>
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+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sync modes supported</Name>
+										<Info>
+											<DefaultData>07c0</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Minimum cycle time</Name>
+										<Info>
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+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Calc and copy time</Name>
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+										</Info>
+									</SubItem>
+									<SubItem>
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+										<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="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="#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>
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+									<Name>SubIndex 002</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>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
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+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>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>
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+								</SubItem>
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+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
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+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>3</Elements>
+								</ArrayInfo>
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+							<DataType>
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+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
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+										<Access>rw</Access>
+										<Category>o</Category>
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+								<SubItem>
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+									<BitSize>48</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
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+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
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+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
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+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
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+								<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>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>
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+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8010</Index>
+								<Name>PTO Settings</Name>
+								<Type>DT8010</Type>
+								<BitSize>192</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>18</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Emergency ramp active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog timer deactive</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Sign/amount representation</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp function active</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp base frequency</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Direct input mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value on wdt</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Travel distance control active</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Operating mode</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Negative logic</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Users switch-on-value</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 1</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#xc350</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Base frequency 2</Name>
+										<Info>
+											<MinValue>#x64</MinValue>
+											<MaxValue>#x7a120</MaxValue>
+											<DefaultValue>#x186a0</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (rising)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (falling)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Frequency factor (Digit x 10mHz)</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#xffff</MaxValue>
+											<DefaultValue>#x64</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Slowing down frequency</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#x7fff</MaxValue>
+											<DefaultValue>#x32</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ramp time constant (emergency)</Name>
+										<Info>
+											<DefaultData>e803</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8800</Index>
+								<Name>Volatile settings</Name>
+								<Type>DT8800</Type>
+								<BitSize>64</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Target counter state</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum frequency</Name>
+										<Info>
+											<MinValue>#x0</MinValue>
+											<MaxValue>#x7fff</MaxValue>
+											<DefaultValue>#x0</DefaultValue>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xa000</Index>
+								<Name>Diagnostic parameter</Name>
+								<Type>DTA000</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Counter extension</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0300</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>112</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fc000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fd000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 003</Name>
+										<Info>
+											<DefaultData>ff010000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="54" MaxSize="128" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="54" MaxSize="128" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>Outputs</Name>
+					<Exclude>#x1601</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Ctrl</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data Out</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1601</Index>
+					<Name>PTO Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Frequency select</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Disable ramp</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Go counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Frequency value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1604</Index>
+					<Name>PTO Target compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1607</Index>
+					<Name>PTO Target</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Target counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1602</Index>
+					<Name>ENC Control compact</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1605</Exclude>
+					<Exclude>#x1607</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1">
+					<Index>#x1605</Index>
+					<Name>ENC Control</Name>
+					<Exclude>#x1600</Exclude>
+					<Exclude>#x1602</Exclude>
+					<Exclude>#x1604</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Set counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>8</BitLen>
+						<Name>Control__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Set counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>Inputs</Name>
+					<Exclude>#x1a01</Exclude>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a05</Exclude>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Status</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Data In</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
+					<Name>PTO Status</Name>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sel. Ack/End counter</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>2</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Ramp active</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Status of input target</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Status of input zero</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>6</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1801</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a02</Index>
+					<Name>ENC Status compact</Name>
+					<Exclude>#x1a05</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UINT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a05</Index>
+					<Name>ENC Status</Name>
+					<Exclude>#x1a02</Exclude>
+					<Exclude>#x1a00</Exclude>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>2</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>3</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Set counter done</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>4</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter underflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Counter overflow</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>5</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1c32</Index>
+						<SubIndex>32</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Sync error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1805</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6020</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>32</BitLen>
+						<Name>Counter value</Name>
+						<DataType>UDINT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Dc>
+					<OpMode>
+						<Name>Synchron</Name>
+						<Desc>FreeRun/SM-Synchron</Desc>
+						<AssignActivate>#x0</AssignActivate>
+						<CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+						<ShiftTimeSync0>0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+					<OpMode>
+						<Name>DC</Name>
+						<Desc>DC-Synchron</Desc>
+						<AssignActivate>#x300</AssignActivate>
+						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+						<ShiftTimeSync0 Input="0">0</ShiftTimeSync0>
+						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+						<ShiftTimeSync1>0</ShiftTimeSync1>
+					</OpMode>
+				</Dc>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0500030c32000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x9e73052" RevisionNo="#x00100000">EL2535</Type>
+				<Name LcId="1033">EL2535 2Ch. Pulse Width Current Output (24V, 1 A)</Name>
+				<Name LcId="1031">EL2535 2K. Pulsweiten Strom Ausgang (24V, 1 A)</Name>
+				<URL LcId="1033">http://www.beckhoff.com/EL2535</URL>
+				<URL LcId="1031">http://www.beckhoff.de/EL2535</URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>110</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+					<VendorSpecific>
+						<TwinCAT>
+							<AlternativeSmMapping Default="1">
+								<Name>Standard</Name>
+								<Sm No="2">
+									<Pdo>#x1600</Pdo>
+									<Pdo>#x1601</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a00</Pdo>
+									<Pdo>#x1a02</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+							<AlternativeSmMapping>
+								<Name>Extended info data</Name>
+								<Sm No="2">
+									<Pdo>#x1600</Pdo>
+									<Pdo>#x1601</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a00</Pdo>
+									<Pdo>#x1a01</Pdo>
+									<Pdo>#x1a02</Pdo>
+									<Pdo>#x1a03</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+						</TwinCAT>
+					</VendorSpecific>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ProfileNo>5001</ProfileNo>
+					<AddInfo>250</AddInfo>
+					<ChannelCount>2</ChannelCount>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>2</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>INT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..1] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>16</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..3] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(6)</Name>
+								<BitSize>48</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN08</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>8</BitSize>
+								<EnumInfo>
+									<Text>Actual current Ch.1</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Set current Ch.1</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Duty cycle Ch.1</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Supply voltage Ch.1</Text>
+									<Enum>3</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Actual current Ch.2</Text>
+									<Enum>32</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Set current Ch.2</Text>
+									<Enum>33</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Duty cycle Ch.2</Text>
+									<Enum>34</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Supply voltage Ch.2</Text>
+									<Enum>35</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0803EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Default watchdog value</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Watchdog ramp aktiv</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Last output value aktiv</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0804EN08</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>8</BitSize>
+								<EnumInfo>
+									<Text>Actual current Ch.1</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Set current Ch.1</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Duty cycle Ch.1</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Supply voltage Ch.1</Text>
+									<Enum>3</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Actual current Ch.2</Text>
+									<Enum>32</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Set current Ch.2</Text>
+									<Enum>33</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Duty cycle Ch.2</Text>
+									<Enum>34</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Supply voltage Ch.2</Text>
+									<Enum>35</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>208</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A00</Name>
+								<BitSize>272</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A01</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C00ARR</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C00</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>64</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>64</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>344</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Minimum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Maximum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>288</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>320</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>336</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Digital input 1</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Ready to enable</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Warning</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Info data 1</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Info data 2</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Enable dithering</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Enable</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Reset</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>PWM output</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>232</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Enable dithering</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Invert polarity</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Watchdog</Name>
+									<Type>DT0803EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Offset</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Gain</Name>
+									<Type>DINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Default output</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Default output ramp</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>Max current [%]</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Kp factor</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Ki factor</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Kd factor</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>30</SubIdx>
+									<Name>Dithering frequency [Hz]</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>192</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>31</SubIdx>
+									<Name>Dithering amplitude [%]</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>33</SubIdx>
+									<Name>Select info data 1</Name>
+									<Type>DT0802EN08</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>216</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>34</SubIdx>
+									<Name>Select info data 2</Name>
+									<Type>DT0804EN08</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT800F</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Offset</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Gain</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTA000</Name>
+								<BitSize>24</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Overtemperature</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Undervoltage</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Overvoltage</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Short circuit</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
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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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+								<SubItem>
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+									<Name>Maximum number of modules</Name>
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+									<BitOffs>32</BitOffs>
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+								<SubItem>
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+									<Name>Voltage [mV]</Name>
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+									<Name>Temperature [°C]</Name>
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+								<SubItem>
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+									<Name>Request</Name>
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+										<Category>o</Category>
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+									<Name>Response</Name>
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+										<Access>ro</Access>
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+								<Name>Device type</Name>
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+								<Name>Hardware version</Name>
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+								<Name>Software version</Name>
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+									<SubItem>
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+									<SubItem>
+										<Name>Product code</Name>
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+									<SubItem>
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+									<SubItem>
+										<Name>Serial number</Name>
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+											<DefaultData>84030000</DefaultData>
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+										<Name>Short circuit</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xa010</Index>
+								<Name>PWM Diag data Ch.2</Name>
+								<Type>DTA000</Type>
+								<BitSize>24</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>07</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Overtemperature</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Undervoltage</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Overvoltage</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Short circuit</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0200</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fa000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fa000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf900</Index>
+								<Name>PWM Info data</Name>
+								<Type>DTF900</Type>
+								<BitSize>40</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Voltage [mV]</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Temperature [°C]</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xfb00</Index>
+								<Name>PWM Command</Name>
+								<Type>DTFB00</Type>
+								<BitSize>72</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="64" MaxSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="64" MaxSize="128" DefaultSize="128" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="8" StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1180" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Mandatory="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>PWM Control Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable dithering</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Reset</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>9</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>INT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="2">
+					<Index>#x1601</Index>
+					<Name>PWM Control Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable dithering</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Reset</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>9</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>INT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>PWM Status Channel 1</Name>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Digital input 1</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Ready to enable</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Warning</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>7</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1800</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
+					<Name>PWM Synchron info data Channel 1</Name>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Info data 1</Name>
+						<DataType>INT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Info data 2</Name>
+						<DataType>INT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a02</Index>
+					<Name>PWM Status Channel 2</Name>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Digital input 1</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Ready to enable</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Warning</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>7</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a03</Index>
+					<Name>PWM Synchron info data Channel 2</Name>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Info data 1</Name>
+						<DataType>INT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Info data 2</Name>
+						<DataType>INT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>050003000a000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x9e73052" RevisionNo="#x00100002">EL2535-0002</Type>
+				<Name LcId="1033">EL2535-0002 2Ch. Pulse Width Current Output (24V, 2 A)</Name>
+				<Name LcId="1031">EL2535-0002 2K. Pulsweiten Strom Ausgang (24V, 2 A)</Name>
+				<URL LcId="1033">http://www.beckhoff.com/EL2535</URL>
+				<URL LcId="1031">http://www.beckhoff.de/EL2535</URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>110</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+					<VendorSpecific>
+						<TwinCAT>
+							<AlternativeSmMapping Default="1">
+								<Name>Standard</Name>
+								<Sm No="2">
+									<Pdo>#x1600</Pdo>
+									<Pdo>#x1601</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a00</Pdo>
+									<Pdo>#x1a02</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+							<AlternativeSmMapping>
+								<Name>Extended info data</Name>
+								<Sm No="2">
+									<Pdo>#x1600</Pdo>
+									<Pdo>#x1601</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a00</Pdo>
+									<Pdo>#x1a01</Pdo>
+									<Pdo>#x1a02</Pdo>
+									<Pdo>#x1a03</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+						</TwinCAT>
+					</VendorSpecific>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ProfileNo>5001</ProfileNo>
+					<AddInfo>250</AddInfo>
+					<ChannelCount>2</ChannelCount>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>2</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>INT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..1] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>16</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..3] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(6)</Name>
+								<BitSize>48</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN08</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>8</BitSize>
+								<EnumInfo>
+									<Text>Actual current Ch.1</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Set current Ch.1</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Duty cycle Ch.1</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Supply voltage Ch.1</Text>
+									<Enum>3</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Actual current Ch.2</Text>
+									<Enum>32</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Set current Ch.2</Text>
+									<Enum>33</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Duty cycle Ch.2</Text>
+									<Enum>34</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Supply voltage Ch.2</Text>
+									<Enum>35</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0803EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Default watchdog value</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Watchdog ramp aktiv</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Last output value aktiv</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0804EN08</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>8</BitSize>
+								<EnumInfo>
+									<Text>Actual current Ch.1</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Set current Ch.1</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Duty cycle Ch.1</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Supply voltage Ch.1</Text>
+									<Enum>3</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Actual current Ch.2</Text>
+									<Enum>32</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Set current Ch.2</Text>
+									<Enum>33</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Duty cycle Ch.2</Text>
+									<Enum>34</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Supply voltage Ch.2</Text>
+									<Enum>35</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>208</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A00</Name>
+								<BitSize>272</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A01</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C00ARR</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C00</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>64</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>64</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>344</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Minimum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Maximum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>288</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>320</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>336</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Digital input 1</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Ready to enable</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Warning</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Info data 1</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Info data 2</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Enable dithering</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Enable</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Reset</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>PWM output</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>232</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Enable dithering</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Invert polarity</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Watchdog</Name>
+									<Type>DT0803EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Offset</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Gain</Name>
+									<Type>DINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Default output</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Default output ramp</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>Max current [%]</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Kp factor</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Ki factor</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Kd factor</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>30</SubIdx>
+									<Name>Dithering frequency [Hz]</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>192</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>31</SubIdx>
+									<Name>Dithering amplitude [%]</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>33</SubIdx>
+									<Name>Select info data 1</Name>
+									<Type>DT0802EN08</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>216</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>34</SubIdx>
+									<Name>Select info data 2</Name>
+									<Type>DT0804EN08</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT800F</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Offset</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Gain</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTA000</Name>
+								<BitSize>24</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Overtemperature</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>17</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Undervoltage</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Overvoltage</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Short circuit</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Module index distance</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Maximum number of modules</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF010ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>64</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DTF010</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DTF010ARR</Type>
+									<BitSize>64</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTF900</Name>
+								<BitSize>40</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Voltage [mV]</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Temperature [°C]</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTFB00</Name>
+								<BitSize>72</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Request</Name>
+									<Type>ARRAY [0..1] OF BYTE</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Status</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Response</Name>
+									<Type>ARRAY [0..3] OF BYTE</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>40</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+						</DataTypes>
+						<Objects>
+							<Object>
+								<Index>#x1000</Index>
+								<Name>Device type</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>8913fa00</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1008</Index>
+								<Name>Device name</Name>
+								<Type>STRING(6)</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<DefaultData>454c32353335</DefaultData>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x100a</Index>
+								<Name>Software version</Name>
+								<Type>STRING(2)</Type>
+								<BitSize>16</BitSize>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1011</Index>
+								<Name>Restore default parameters</Name>
+								<Type>DT1011</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1018</Index>
+								<Name>Identity</Name>
+								<Type>DT1018</Type>
+								<BitSize>144</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>04</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Vendor ID</Name>
+										<Info>
+											<DefaultData>02000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Product code</Name>
+										<Info>
+											<DefaultData>5230e709</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Revision</Name>
+										<Info>
+											<DefaultData>02001000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Serial number</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x10f0</Index>
+								<Name>Backup parameter handling</Name>
+								<Type>DT10F0</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>01</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Checksum</Name>
+										<Info>
+											<DefaultData>00000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x1600</Index>
+								<Name>PWM RxPDO-Map Control Ch.1</Name>
+								<Type>DT1600</Type>
+								<BitSize>208</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>06</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>01010070</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
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+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>PWM output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x7010</Index>
+								<Name>PWM Outputs Ch.2</Name>
+								<Type>DT7000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>11</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable dithering</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Reset</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>PWM output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8000</Index>
+								<Name>PWM Settings Ch.1</Name>
+								<Type>DT8000</Type>
+								<BitSize>232</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>22</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable dithering</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Invert polarity</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Offset</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Gain</Name>
+										<Info>
+											<MinValue>#xfffe0000</MinValue>
+											<MaxValue>#x1ffff</MaxValue>
+											<DefaultValue>#x10000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output ramp</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#xffff</MaxValue>
+											<DefaultValue>#xffff</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Max current [%]</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#x64</MaxValue>
+											<DefaultValue>#x64</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Kp factor</Name>
+										<Info>
+											<DefaultData>fa00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ki factor</Name>
+										<Info>
+											<DefaultData>0400</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Kd factor</Name>
+										<Info>
+											<DefaultData>3200</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Dithering frequency [Hz]</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#x1f4</MaxValue>
+											<DefaultValue>#x64</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Dithering amplitude [%]</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#x1e</MaxValue>
+											<DefaultValue>#xa</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Select info data 1</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Select info data 2</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x800f</Index>
+								<Name>PWM Vendor data Ch.1</Name>
+								<Type>DT800F</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Offset</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Gain</Name>
+										<Info>
+											<DefaultData>0040</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x8010</Index>
+								<Name>PWM Settings Ch.2</Name>
+								<Type>DT8000</Type>
+								<BitSize>232</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>22</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Enable dithering</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Invert polarity</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Watchdog</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Offset</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Gain</Name>
+										<Info>
+											<MinValue>#xfffe0000</MinValue>
+											<MaxValue>#x1ffff</MaxValue>
+											<DefaultValue>#x10000</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Default output ramp</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#xffff</MaxValue>
+											<DefaultValue>#xffff</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Max current [%]</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#x64</MaxValue>
+											<DefaultValue>#x64</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Kp factor</Name>
+										<Info>
+											<DefaultData>fa00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Ki factor</Name>
+										<Info>
+											<DefaultData>0400</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Kd factor</Name>
+										<Info>
+											<DefaultData>3200</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Dithering frequency [Hz]</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#x1f4</MaxValue>
+											<DefaultValue>#x64</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Dithering amplitude [%]</Name>
+										<Info>
+											<MinValue>#x1</MinValue>
+											<MaxValue>#x1e</MaxValue>
+											<DefaultValue>#xa</DefaultValue>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Select info data 1</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Select info data 2</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x801f</Index>
+								<Name>PWM Vendor data Ch.2</Name>
+								<Type>DT800F</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Offset</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Gain</Name>
+										<Info>
+											<DefaultData>0040</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xa000</Index>
+								<Name>PWM Diag data Ch.1</Name>
+								<Type>DTA000</Type>
+								<BitSize>24</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>07</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Overtemperature</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Undervoltage</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Overvoltage</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Short circuit</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xa010</Index>
+								<Name>PWM Diag data Ch.2</Name>
+								<Type>DTA000</Type>
+								<BitSize>24</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>07</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Overtemperature</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Undervoltage</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Overvoltage</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Short circuit</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0200</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fa000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fa000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf900</Index>
+								<Name>PWM Info data</Name>
+								<Type>DTF900</Type>
+								<BitSize>40</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Voltage [mV]</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Temperature [°C]</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xfb00</Index>
+								<Name>PWM Command</Name>
+								<Type>DTFB00</Type>
+								<BitSize>72</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="64" MaxSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="64" MaxSize="128" DefaultSize="128" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="8" StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1180" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Mandatory="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>PWM Control Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable dithering</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Reset</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>9</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>INT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="2">
+					<Index>#x1601</Index>
+					<Name>PWM Control Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable dithering</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Reset</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>9</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>INT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>PWM Status Channel 1</Name>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Digital input 1</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Ready to enable</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Warning</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>7</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1800</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
+					<Name>PWM Synchron info data Channel 1</Name>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Info data 1</Name>
+						<DataType>INT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Info data 2</Name>
+						<DataType>INT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a02</Index>
+					<Name>PWM Status Channel 2</Name>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Digital input 1</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Ready to enable</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Warning</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>7</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a03</Index>
+					<Name>PWM Synchron info data Channel 2</Name>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Info data 1</Name>
+						<DataType>INT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Info data 2</Name>
+						<DataType>INT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>050003000a000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x9e73052" RevisionNo="#x00100032">EL2535-0050</Type>
+				<Name LcId="1033">EL2535-0050 2Ch. Pulse Width Current Output (24V, 50 mA)</Name>
+				<Name LcId="1031">EL2535-0050 2K. Pulsweiten Strom Ausgang (24V, 50 mA)</Name>
+				<URL LcId="1033">http://www.beckhoff.com/EL2535</URL>
+				<URL LcId="1031">http://www.beckhoff.de/EL2535</URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>110</EBusCurrent>
+					</Electrical>
+					<Mailbox>
+						<Timeout>
+							<RequestTimeout>100</RequestTimeout>
+							<ResponseTimeout>2000</ResponseTimeout>
+						</Timeout>
+					</Mailbox>
+					<VendorSpecific>
+						<TwinCAT>
+							<AlternativeSmMapping Default="1">
+								<Name>Standard</Name>
+								<Sm No="2">
+									<Pdo>#x1600</Pdo>
+									<Pdo>#x1601</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a00</Pdo>
+									<Pdo>#x1a02</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+							<AlternativeSmMapping>
+								<Name>Extended info data</Name>
+								<Sm No="2">
+									<Pdo>#x1600</Pdo>
+									<Pdo>#x1601</Pdo>
+								</Sm>
+								<Sm No="3">
+									<Pdo>#x1a00</Pdo>
+									<Pdo>#x1a01</Pdo>
+									<Pdo>#x1a02</Pdo>
+									<Pdo>#x1a03</Pdo>
+								</Sm>
+							</AlternativeSmMapping>
+						</TwinCAT>
+					</VendorSpecific>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Profile>
+					<ProfileNo>5001</ProfileNo>
+					<AddInfo>250</AddInfo>
+					<ChannelCount>2</ChannelCount>
+					<Dictionary>
+						<DataTypes>
+							<DataType>
+								<Name>BIT2</Name>
+								<BitSize>2</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BOOL</Name>
+								<BitSize>1</BitSize>
+							</DataType>
+							<DataType>
+								<Name>BYTE</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>INT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UDINT</Name>
+								<BitSize>32</BitSize>
+							</DataType>
+							<DataType>
+								<Name>UINT</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>USINT</Name>
+								<BitSize>8</BitSize>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..1] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>16</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>ARRAY [0..3] OF BYTE</Name>
+								<BaseType>BYTE</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>0</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>STRING(2)</Name>
+								<BitSize>16</BitSize>
+							</DataType>
+							<DataType>
+								<Name>STRING(6)</Name>
+								<BitSize>48</BitSize>
+							</DataType>
+							<DataType>
+								<Name>DT0802EN08</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>8</BitSize>
+								<EnumInfo>
+									<Text>Actual current Ch.1</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Set current Ch.1</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Duty cycle Ch.1</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Supply voltage Ch.1</Text>
+									<Enum>3</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Actual current Ch.2</Text>
+									<Enum>32</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Set current Ch.2</Text>
+									<Enum>33</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Duty cycle Ch.2</Text>
+									<Enum>34</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Supply voltage Ch.2</Text>
+									<Enum>35</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0803EN02</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>2</BitSize>
+								<EnumInfo>
+									<Text>Default watchdog value</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Watchdog ramp aktiv</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Last output value aktiv</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT0804EN08</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>8</BitSize>
+								<EnumInfo>
+									<Text>Actual current Ch.1</Text>
+									<Enum>0</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Set current Ch.1</Text>
+									<Enum>1</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Duty cycle Ch.1</Text>
+									<Enum>2</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Supply voltage Ch.1</Text>
+									<Enum>3</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Actual current Ch.2</Text>
+									<Enum>32</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Set current Ch.2</Text>
+									<Enum>33</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Duty cycle Ch.2</Text>
+									<Enum>34</Enum>
+								</EnumInfo>
+								<EnumInfo>
+									<Text>Supply voltage Ch.2</Text>
+									<Enum>35</Enum>
+								</EnumInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011ARR</Name>
+								<BaseType>UDINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>1</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1011</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1011ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1018</Name>
+								<BitSize>144</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Vendor ID</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Product code</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Revision</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Serial number</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT10F0</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Checksum</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1600</Name>
+								<BitSize>208</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A00</Name>
+								<BitSize>272</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>SubIndex 003</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>SubIndex 004</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>SubIndex 005</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>SubIndex 006</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>SubIndex 007</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>SubIndex 008</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>240</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1A01</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>SubIndex 001</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>SubIndex 002</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C00ARR</Name>
+								<BaseType>USINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C00</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C00ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C12ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>32</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>2</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C12</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C12ARR</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C13ARR</Name>
+								<BaseType>UINT</BaseType>
+								<BitSize>64</BitSize>
+								<ArrayInfo>
+									<LBound>1</LBound>
+									<Elements>4</Elements>
+								</ArrayInfo>
+							</DataType>
+							<DataType>
+								<Name>DT1C13</Name>
+								<BitSize>80</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<Name>Elements</Name>
+									<Type>DT1C13ARR</Type>
+									<BitSize>64</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT1C32</Name>
+								<BitSize>344</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Sync mode</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Shift time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>64</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Sync modes supported</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Minimum cycle time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Calc and copy time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Minimum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>176</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>8</SubIdx>
+									<Name>Command</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>9</SubIdx>
+									<Name>Maximum delay time</Name>
+									<Type>UDINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>SM event missed counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>288</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Cycle exceeded counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>304</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Shift too short counter</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>320</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>32</SubIdx>
+									<Name>Sync error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>336</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT6000</Name>
+								<BitSize>64</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Digital input 1</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Ready to enable</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Warning</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Error</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>TxPDO Toggle</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>31</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>Info data 1</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Info data 2</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>T</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT7000</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Enable dithering</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>6</SubIdx>
+									<Name>Enable</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>21</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>7</SubIdx>
+									<Name>Reset</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>22</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>17</SubIdx>
+									<Name>PWM output</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+										<PdoMapping>R</PdoMapping>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT8000</Name>
+								<BitSize>232</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>3</SubIdx>
+									<Name>Enable dithering</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>18</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>4</SubIdx>
+									<Name>Invert polarity</Name>
+									<Type>BOOL</Type>
+									<BitSize>1</BitSize>
+									<BitOffs>19</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>5</SubIdx>
+									<Name>Watchdog</Name>
+									<Type>DT0803EN02</Type>
+									<BitSize>2</BitSize>
+									<BitOffs>20</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>11</SubIdx>
+									<Name>Offset</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>12</SubIdx>
+									<Name>Gain</Name>
+									<Type>DINT</Type>
+									<BitSize>32</BitSize>
+									<BitOffs>48</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>13</SubIdx>
+									<Name>Default output</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>80</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>14</SubIdx>
+									<Name>Default output ramp</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>96</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>16</SubIdx>
+									<Name>Max current [%]</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>112</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>18</SubIdx>
+									<Name>Kp factor</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>128</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>19</SubIdx>
+									<Name>Ki factor</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>144</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>20</SubIdx>
+									<Name>Kd factor</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>160</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>30</SubIdx>
+									<Name>Dithering frequency [Hz]</Name>
+									<Type>UINT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>192</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>31</SubIdx>
+									<Name>Dithering amplitude [%]</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>208</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>33</SubIdx>
+									<Name>Select info data 1</Name>
+									<Type>DT0802EN08</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>216</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>34</SubIdx>
+									<Name>Select info data 2</Name>
+									<Type>DT0804EN08</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>224</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+										<Backup>1</Backup>
+										<Setting>1</Setting>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DT800F</Name>
+								<BitSize>48</BitSize>
+								<SubItem>
+									<SubIdx>0</SubIdx>
+									<Name>SubIndex 000</Name>
+									<Type>USINT</Type>
+									<BitSize>8</BitSize>
+									<BitOffs>0</BitOffs>
+									<Flags>
+										<Access>ro</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>1</SubIdx>
+									<Name>Offset</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>16</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+								<SubItem>
+									<SubIdx>2</SubIdx>
+									<Name>Gain</Name>
+									<Type>INT</Type>
+									<BitSize>16</BitSize>
+									<BitOffs>32</BitOffs>
+									<Flags>
+										<Access>rw</Access>
+										<Category>o</Category>
+									</Flags>
+								</SubItem>
+							</DataType>
+							<DataType>
+								<Name>DTA000</Name>
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+										<Category>o</Category>
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+								<SubItem>
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+										<Category>o</Category>
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+										<Category>o</Category>
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+									<Type>BOOL</Type>
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+										<Access>ro</Access>
+										<Category>o</Category>
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+								<SubItem>
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+									<Name>Short circuit</Name>
+									<Type>BOOL</Type>
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+										<Access>ro</Access>
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+										<Category>o</Category>
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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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+								<SubItem>
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+									<Name>Maximum number of modules</Name>
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+										<Access>ro</Access>
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+										<Category>o</Category>
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+								<SubItem>
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+									<Name>Voltage [mV]</Name>
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+										<Category>o</Category>
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+									<Name>Temperature [°C]</Name>
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+									<Name>Request</Name>
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+										<Category>o</Category>
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+									<Name>Status</Name>
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+									<Name>Response</Name>
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+										<Access>ro</Access>
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+								<Name>Device type</Name>
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+								<Info>
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+									<DefaultData>454c32353335</DefaultData>
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+								<Index>#x1009</Index>
+								<Name>Hardware version</Name>
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+								<Name>Software version</Name>
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+								<Name>Restore default parameters</Name>
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+									<SubItem>
+										<Name>Product code</Name>
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+									<SubItem>
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+										<Name>Serial number</Name>
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+								<Name>PWM RxPDO-Map Control Ch.1</Name>
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+											<DefaultData>84030000</DefaultData>
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+											<MaxValue>#x1ffff</MaxValue>
+											<DefaultValue>#x10000</DefaultValue>
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+										</Info>
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+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#x801f</Index>
+								<Name>PWM Vendor data Ch.2</Name>
+								<Type>DT800F</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Offset</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Gain</Name>
+										<Info>
+											<DefaultData>0040</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xa000</Index>
+								<Name>PWM Diag data Ch.1</Name>
+								<Type>DTA000</Type>
+								<BitSize>24</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>07</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Overtemperature</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Undervoltage</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Overvoltage</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Short circuit</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xa010</Index>
+								<Name>PWM Diag data Ch.2</Name>
+								<Type>DTA000</Type>
+								<BitSize>24</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>07</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Overtemperature</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Undervoltage</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Overvoltage</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Short circuit</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf000</Index>
+								<Name>Modular device profile</Name>
+								<Type>DTF000</Type>
+								<BitSize>48</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Module index distance</Name>
+										<Info>
+											<DefaultData>1000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Maximum number of modules</Name>
+										<Info>
+											<DefaultData>0200</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf008</Index>
+								<Name>Code word</Name>
+								<Type>UDINT</Type>
+								<BitSize>32</BitSize>
+								<Info>
+									<DefaultData>00000000</DefaultData>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf010</Index>
+								<Name>Module list</Name>
+								<Type>DTF010</Type>
+								<BitSize>80</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 001</Name>
+										<Info>
+											<DefaultData>fa000000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>SubIndex 002</Name>
+										<Info>
+											<DefaultData>fa000000</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>rw</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xf900</Index>
+								<Name>PWM Info data</Name>
+								<Type>DTF900</Type>
+								<BitSize>40</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>02</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Voltage [mV]</Name>
+										<Info>
+											<DefaultData>0000</DefaultData>
+										</Info>
+									</SubItem>
+									<SubItem>
+										<Name>Temperature [°C]</Name>
+										<Info>
+											<DefaultData>00</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+							<Object>
+								<Index>#xfb00</Index>
+								<Name>PWM Command</Name>
+								<Type>DTFB00</Type>
+								<BitSize>72</BitSize>
+								<Info>
+									<SubItem>
+										<Name>SubIndex 000</Name>
+										<Info>
+											<DefaultData>03</DefaultData>
+										</Info>
+									</SubItem>
+								</Info>
+								<Flags>
+									<Access>ro</Access>
+									<Category>o</Category>
+								</Flags>
+							</Object>
+						</Objects>
+					</Dictionary>
+				</Profile>
+				<Fmmu>Outputs</Fmmu>
+				<Fmmu>Inputs</Fmmu>
+				<Fmmu>MBoxState</Fmmu>
+				<Sm MinSize="64" MaxSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+				<Sm MinSize="64" MaxSize="128" DefaultSize="128" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+				<Sm DefaultSize="8" StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
+				<Sm DefaultSize="4" StartAddress="#x1180" ControlByte="#x20" Enable="1">Inputs</Sm>
+				<RxPdo Fixed="1" Mandatory="1" Sm="2">
+					<Index>#x1600</Index>
+					<Name>PWM Control Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable dithering</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Reset</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>9</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>INT</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="2">
+					<Index>#x1601</Index>
+					<Name>PWM Control Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable dithering</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>4</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Enable</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Control__Reset</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>9</BitLen>
+						<Name>Control__</Name>
+					</Entry>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>PWM output</Name>
+						<DataType>INT</DataType>
+					</Entry>
+				</RxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a00</Index>
+					<Name>PWM Status Channel 1</Name>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Digital input 1</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Ready to enable</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Warning</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>7</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1800</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a01</Index>
+					<Name>PWM Synchron info data Channel 1</Name>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Info data 1</Name>
+						<DataType>INT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6000</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Info data 2</Name>
+						<DataType>INT</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1" Sm="3">
+					<Index>#x1a02</Index>
+					<Name>PWM Status Channel 2</Name>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Digital input 1</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>3</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>5</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Ready to enable</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>6</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Warning</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>7</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__Error</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>1</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x0</Index>
+						<BitLen>7</BitLen>
+						<Name>Status__Gap</Name>
+					</Entry>
+					<Entry>
+						<Index>#x1802</Index>
+						<SubIndex>9</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Status__TxPDO Toggle</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</TxPdo>
+				<TxPdo Fixed="1">
+					<Index>#x1a03</Index>
+					<Name>PWM Synchron info data Channel 2</Name>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>17</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Info data 1</Name>
+						<DataType>INT</DataType>
+					</Entry>
+					<Entry>
+						<Index>#x6010</Index>
+						<SubIndex>18</SubIndex>
+						<BitLen>16</BitLen>
+						<Name>Info data 2</Name>
+						<DataType>INT</DataType>
+					</Entry>
+				</TxPdo>
+				<Mailbox DataLinkLayer="true">
+					<CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+					<FoE/>
+				</Mailbox>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>050003000a000000000000000000</ConfigData>
+					<BootStrap>0010f400f410f400</BootStrap>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x0a2a3052" RevisionNo="#x00100000">EL2602</Type>
+				<Name LcId="1033"><![CDATA[EL2602 2Ch. Relay Output, NO (230V AC / 30V DC)]]></Name>
+				<Name LcId="1031"><![CDATA[EL2602 2K. Relais Ausgang, Schließer (230V AC / 30V DC)]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2602]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2602]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>170</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x0a343052" RevisionNo="#x00100000">EL2612</Type>
+				<Name LcId="1033"><![CDATA[EL2612 2Ch. Relay Output, CO (125V AC / 30V DC)]]></Name>
+				<Name LcId="1031"><![CDATA[EL2612 2K. Relais Ausgang, Wechsler (125V AC / 30V DC)]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2612]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2612]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>150</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x0a3e3052" RevisionNo="#x00100000">EL2622</Type>
+				<Name LcId="1033"><![CDATA[EL2622 2Ch. Relay Output, NO (230V AC / 30V DC)]]></Name>
+				<Name LcId="1031"><![CDATA[EL2622 2K. Relais Ausgang, Schließer (230V AC / 30V DC)]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2622]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2622]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>170</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x0A403052" RevisionNo="#x00100000">EL2624</Type>
+				<Name LcId="1033"><![CDATA[EL2624 4Ch. Relay Output, NO (125V AC / 30V DC)]]></Name>
+				<Name LcId="1031"><![CDATA[EL2624 4K. Relais Ausgang, Schließer (125V AC / 30V DC)]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2624]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2624]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>200</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x0a983052" RevisionNo="#x00100000">EL2712</Type>
+				<Name LcId="1033"><![CDATA[EL2712 2Ch. Triac Output 12..230V AC, 0.5A]]></Name>
+				<Name LcId="1031"><![CDATA[EL2712 2K. Triac Ausgang 12..230V AC, 0.5A]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2712]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2712]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>100</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x0aa23052" RevisionNo="#x00100000">EL2722</Type>
+				<Name LcId="1033"><![CDATA[EL2722 2Ch. Triac Output 12..230V AC, 1.0A, mutually locked]]></Name>
+				<Name LcId="1031"><![CDATA[EL2722 2K. Triac Ausgang 12..230V AC, 1.0A, gegenseitig verriegelt]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2722]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2722]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>100</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x0aac3052" RevisionNo="#x00100000">EL2732</Type>
+				<Name LcId="1033"><![CDATA[EL2732 2Ch. Triac Output 12..230V AC, 0.5A, no power contacts]]></Name>
+				<Name LcId="1031"><![CDATA[EL2732 2K. Triac Ausgang 12..230V AC, 0.5A, keine Powerkontakte]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2732]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2732]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>100</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x0AEE3052" RevisionNo="#x00100000">EL2798</Type>
+				<Name LcId="1033"><![CDATA[EL2798 8Ch. Dig. Output 24V AC/DC, 2A, potential-free]]></Name>
+				<Name LcId="1031"><![CDATA[EL2798 8K. Dig. Ausgang 24V AC/DC, 2A, potentialfrei]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2798]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2798]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>140</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1604</Index>
+					<Name>Channel 5</Name>
+					<Entry>
+						<Index>#x7040</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1605</Index>
+					<Name>Channel 6</Name>
+					<Entry>
+						<Index>#x7050</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1606</Index>
+					<Name>Channel 7</Name>
+					<Entry>
+						<Index>#x7060</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1607</Index>
+					<Name>Channel 8</Name>
+					<Entry>
+						<Index>#x7070</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>0401000000000f00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x0AF83052" RevisionNo="#x00100000">EL2808</Type>
+				<Name LcId="1033"><![CDATA[EL2808 8Ch. Dig. Output 24V, 0.5A]]></Name>
+				<Name LcId="1031"><![CDATA[EL2808 8K. Dig. Ausgang 24V, 0.5A]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2808]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2808]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>110</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm MinSize="1" MaxSize="1" DefaultSize="1" StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1604</Index>
+					<Name>Channel 5</Name>
+					<Entry>
+						<Index>#x7040</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1605</Index>
+					<Name>Channel 6</Name>
+					<Entry>
+						<Index>#x7050</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1606</Index>
+					<Name>Channel 7</Name>
+					<Entry>
+						<Index>#x7060</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1607</Index>
+					<Name>Channel 8</Name>
+					<Entry>
+						<Index>#x7070</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>040100000000ff00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x0AF93052" RevisionNo="#x00100000">EL2809</Type>
+				<Name LcId="1033"><![CDATA[EL2809 16Ch. Dig. Output 24V, 0.5A]]></Name>
+				<Name LcId="1031"><![CDATA[EL2809 16K. Dig. Ausgang 24V, 0.5A]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2809]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2809]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>140</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm DefaultSize="1" StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Sm DefaultSize="1" StartAddress="#x0f01" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1604</Index>
+					<Name>Channel 5</Name>
+					<Entry>
+						<Index>#x7040</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1605</Index>
+					<Name>Channel 6</Name>
+					<Entry>
+						<Index>#x7050</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1606</Index>
+					<Name>Channel 7</Name>
+					<Entry>
+						<Index>#x7060</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1607</Index>
+					<Name>Channel 8</Name>
+					<Entry>
+						<Index>#x7070</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1608</Index>
+					<Name>Channel 9</Name>
+					<Entry>
+						<Index>#x7080</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1609</Index>
+					<Name>Channel 10</Name>
+					<Entry>
+						<Index>#x7090</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160a</Index>
+					<Name>Channel 11</Name>
+					<Entry>
+						<Index>#x70a0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160b</Index>
+					<Name>Channel 12</Name>
+					<Entry>
+						<Index>#x70b0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160c</Index>
+					<Name>Channel 13</Name>
+					<Entry>
+						<Index>#x70c0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160d</Index>
+					<Name>Channel 14</Name>
+					<Entry>
+						<Index>#x70d0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160e</Index>
+					<Name>Channel 15</Name>
+					<Entry>
+						<Index>#x70e0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160f</Index>
+					<Name>Channel 16</Name>
+					<Entry>
+						<Index>#x70f0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>040100000000ff00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x0B383052" RevisionNo="#x00100000">EL2872</Type>
+				<Name LcId="1033"><![CDATA[EL2872 16Ch. Dig. Output 24V, 0.5A]]></Name>
+				<Name LcId="1031"><![CDATA[EL2872 16K. Dig. Ausgang 24V, 0.5A]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2872]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2872]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm DefaultSize="1" StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Sm DefaultSize="1" StartAddress="#x0f01" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1604</Index>
+					<Name>Channel 5</Name>
+					<Entry>
+						<Index>#x7040</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1605</Index>
+					<Name>Channel 6</Name>
+					<Entry>
+						<Index>#x7050</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1606</Index>
+					<Name>Channel 7</Name>
+					<Entry>
+						<Index>#x7060</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1607</Index>
+					<Name>Channel 8</Name>
+					<Entry>
+						<Index>#x7070</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1608</Index>
+					<Name>Channel 9</Name>
+					<Entry>
+						<Index>#x7080</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1609</Index>
+					<Name>Channel 10</Name>
+					<Entry>
+						<Index>#x7090</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160a</Index>
+					<Name>Channel 11</Name>
+					<Entry>
+						<Index>#x70a0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160b</Index>
+					<Name>Channel 12</Name>
+					<Entry>
+						<Index>#x70b0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160c</Index>
+					<Name>Channel 13</Name>
+					<Entry>
+						<Index>#x70c0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160d</Index>
+					<Name>Channel 14</Name>
+					<Entry>
+						<Index>#x70d0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160e</Index>
+					<Name>Channel 15</Name>
+					<Entry>
+						<Index>#x70e0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160f</Index>
+					<Name>Channel 16</Name>
+					<Entry>
+						<Index>#x70f0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>040100000000ff00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x0B383052" RevisionNo="#x0010000A">EL2872-0010</Type>
+				<Name LcId="1033"><![CDATA[EL2872-0010 16Ch. Dig. Output 24V, 0.5A, negative]]></Name>
+				<Name LcId="1031"><![CDATA[EL2872-0010 16K. Dig. Ausgang 24V, 0.5A, negativ]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2872]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2872]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>130</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm DefaultSize="1" StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Sm DefaultSize="1" StartAddress="#x0f01" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1604</Index>
+					<Name>Channel 5</Name>
+					<Entry>
+						<Index>#x7040</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1605</Index>
+					<Name>Channel 6</Name>
+					<Entry>
+						<Index>#x7050</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1606</Index>
+					<Name>Channel 7</Name>
+					<Entry>
+						<Index>#x7060</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1607</Index>
+					<Name>Channel 8</Name>
+					<Entry>
+						<Index>#x7070</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1608</Index>
+					<Name>Channel 9</Name>
+					<Entry>
+						<Index>#x7080</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1609</Index>
+					<Name>Channel 10</Name>
+					<Entry>
+						<Index>#x7090</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160a</Index>
+					<Name>Channel 11</Name>
+					<Entry>
+						<Index>#x70a0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160b</Index>
+					<Name>Channel 12</Name>
+					<Entry>
+						<Index>#x70b0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160c</Index>
+					<Name>Channel 13</Name>
+					<Entry>
+						<Index>#x70c0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160d</Index>
+					<Name>Channel 14</Name>
+					<Entry>
+						<Index>#x70d0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160e</Index>
+					<Name>Channel 15</Name>
+					<Entry>
+						<Index>#x70e0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160f</Index>
+					<Name>Channel 16</Name>
+					<Entry>
+						<Index>#x70f0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>040100000000ff00</ConfigData>
+				</Eeprom>
+			</Device>
+			<Device Physics="KK">
+				<Type ProductCode="#x0B493052" RevisionNo="#x00100000">EL2889</Type>
+				<Name LcId="1033"><![CDATA[EL2889 16Ch. Dig. Output 24V, 0.5A, negative]]></Name>
+				<Name LcId="1031"><![CDATA[EL2889 16K. Dig. Ausgang 24V, 0.5A, negativ]]></Name>
+				<URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2889]]></URL>
+				<URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2889]]></URL>
+				<Info>
+					<Electrical>
+						<EBusCurrent>140</EBusCurrent>
+					</Electrical>
+				</Info>
+				<GroupType>DigOut</GroupType>
+				<Fmmu OpOnly="1">Outputs</Fmmu>
+				<Sm DefaultSize="1" StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Sm DefaultSize="1" StartAddress="#x0f01" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+				<Su FrameRepeatSupport="1"/>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1600</Index>
+					<Name>Channel 1</Name>
+					<Entry>
+						<Index>#x7000</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1601</Index>
+					<Name>Channel 2</Name>
+					<Entry>
+						<Index>#x7010</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1602</Index>
+					<Name>Channel 3</Name>
+					<Entry>
+						<Index>#x7020</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1603</Index>
+					<Name>Channel 4</Name>
+					<Entry>
+						<Index>#x7030</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1604</Index>
+					<Name>Channel 5</Name>
+					<Entry>
+						<Index>#x7040</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1605</Index>
+					<Name>Channel 6</Name>
+					<Entry>
+						<Index>#x7050</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1606</Index>
+					<Name>Channel 7</Name>
+					<Entry>
+						<Index>#x7060</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="0">
+					<Index>#x1607</Index>
+					<Name>Channel 8</Name>
+					<Entry>
+						<Index>#x7070</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1608</Index>
+					<Name>Channel 9</Name>
+					<Entry>
+						<Index>#x7080</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x1609</Index>
+					<Name>Channel 10</Name>
+					<Entry>
+						<Index>#x7090</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160a</Index>
+					<Name>Channel 11</Name>
+					<Entry>
+						<Index>#x70a0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160b</Index>
+					<Name>Channel 12</Name>
+					<Entry>
+						<Index>#x70b0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160c</Index>
+					<Name>Channel 13</Name>
+					<Entry>
+						<Index>#x70c0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160d</Index>
+					<Name>Channel 14</Name>
+					<Entry>
+						<Index>#x70d0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160e</Index>
+					<Name>Channel 15</Name>
+					<Entry>
+						<Index>#x70e0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<RxPdo Fixed="1" Mandatory="1" Sm="1">
+					<Index>#x160f</Index>
+					<Name>Channel 16</Name>
+					<Entry>
+						<Index>#x70f0</Index>
+						<SubIndex>1</SubIndex>
+						<BitLen>1</BitLen>
+						<Name>Output</Name>
+						<DataType>BOOL</DataType>
+					</Entry>
+				</RxPdo>
+				<Eeprom>
+					<ByteSize>2048</ByteSize>
+					<ConfigData>040100000000ff00</ConfigData>
+				</Eeprom>
+			</Device>
+		</Devices>
+	</Descriptions>
+</EtherCATInfo>
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/ethercat/wago_sanyo/ethercat@etherlab/modules/sanyo.xml	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,9465 @@
+<?xml version="1.0" encoding="utf-8"?>
+<EtherCATInfo xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd" Version="1.2">
+  <Vendor>
+    <Id>#x1b9</Id>
+    <Name>Sanyodenki Co., Ltd.</Name>
+    <ImageData16x14>424DE6000000000000007600000028000000100000000E000000010004000000000070000000000000000000000010000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00FFFFFFFFFFFFFFFFFCFFCCCFCFCFCFFFFCFFCFCFFCFCFCFFFCFFCFCFFCFCFCFFCFCFCFCFFFCFCFCFCFCFCCCFFFCCCCCCFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFCCCFCFCFCFFCFFFFFFCFCFCFCFCCFFFFCCCFCCCFCCFCFFFFCFFFCFCFCFFCFFFFCCCFCCCFCFFCFFFFFFFFFFFFFFFFFFFF</ImageData16x14>
+  </Vendor>
+  <Descriptions>
+    <Groups>
+      <Group SortOrder="520">
+        <Type>Drive</Type>
+        <Name LcId="1033">Drives</Name>
+        <Image16x14>DRIVE</Image16x14>
+      </Group>
+    </Groups>
+    <Devices>
+      <Device Physics="YY">
+        <Type TcCfgModeSafeOp="1" ProductCode="#x00000002" RevisionNo="#x00000000" SerialNo="#x20110111">SanyoDenki RS2 EtherCAT</Type>
+        <HideType ProductRevision="2" />
+        <Name LcId="1"><![CDATA[R ADVANCED MODEL with EtherCAT Coe Interface (8003.0.0111) ]]></Name>
+        <Info>
+          <StateMachine>
+            <Behavior StartToSafeopNoSync="false" />
+          </StateMachine>
+        </Info>
+        <GroupType>Drive</GroupType>
+        <Profile>
+          <ProfileNo>402</ProfileNo>
+          <Dictionary>
+            <DataTypes>
+              <DataType>
+                <Name>BOOLEAN</Name>
+                <BitSize>1</BitSize>
+              </DataType>
+              <DataType>
+                <Name>STRING(0)</Name>
+                <BitSize>0</BitSize>
+              </DataType>
+              <DataType>
+                <Name>SINT</Name>
+                <BitSize>8</BitSize>
+              </DataType>
+              <DataType>
+                <Name>USINT</Name>
+                <BitSize>8</BitSize>
+              </DataType>
+              <DataType>
+                <Name>INT</Name>
+                <BitSize>16</BitSize>
+              </DataType>
+              <DataType>
+                <Name>UINT</Name>
+                <BitSize>16</BitSize>
+              </DataType>
+              <DataType>
+                <Name>DINT</Name>
+                <BitSize>32</BitSize>
+              </DataType>
+              <DataType>
+                <Name>UDINT</Name>
+                <BitSize>32</BitSize>
+              </DataType>
+              <DataType>
+                <Name>DT1010</Name>
+                <BitSize>48</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>Save all parameters</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT1018</Name>
+                <BitSize>144</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>Vendor ID</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>Product code</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>48</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>3</SubIdx>
+                  <Name>Revision</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>80</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>4</SubIdx>
+                  <Name>Serial number</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>112</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT1400</Name>
+                <BitSize>51</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>6</SubIdx>
+                  <Name>RxPDO Excluded PDOs</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>7</SubIdx>
+                  <Name>RxPDO state</Name>
+                  <Type>BOOLEAN</Type>
+                  <BitSize>1</BitSize>
+                  <BitOffs>48</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                    <PdoMapping>RT</PdoMapping>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>8</SubIdx>
+                  <Name>RxPDO contrall</Name>
+                  <Type>BOOLEAN</Type>
+                  <BitSize>1</BitSize>
+                  <BitOffs>49</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                    <PdoMapping>RT</PdoMapping>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>9</SubIdx>
+                  <Name>RxPDO toggle</Name>
+                  <Type>BOOLEAN</Type>
+                  <BitSize>1</BitSize>
+                  <BitOffs>50</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                    <PdoMapping>RT</PdoMapping>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT1600</Name>
+                <BitSize>1008</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>1st mapping data</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>2nd mapping data</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>48</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>3</SubIdx>
+                  <Name>3rd mapping data</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>80</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>4</SubIdx>
+                  <Name>4th mapping data</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>112</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>5</SubIdx>
+                  <Name>5th mapping data</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>144</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>6</SubIdx>
+                  <Name>6th mapping data</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>176</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>7</SubIdx>
+                  <Name>7th mapping data</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>208</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>8</SubIdx>
+                  <Name>8th mapping data</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>240</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>9</SubIdx>
+                  <Name>9th mapping data</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>272</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>10</SubIdx>
+                  <Name>10th mapping data</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>304</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>11</SubIdx>
+                  <Name>11th mapping data</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>336</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>12</SubIdx>
+                  <Name>12th mapping data</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>368</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>13</SubIdx>
+                  <Name>13th mapping data</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>400</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>14</SubIdx>
+                  <Name>14th mapping data</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>432</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>15</SubIdx>
+                  <Name>15th mapping data</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>464</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>16</SubIdx>
+                  <Name>16th mapping data</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>496</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>17</SubIdx>
+                  <Name>17th mapping data</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>528</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>18</SubIdx>
+                  <Name>18th mapping data</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>560</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>19</SubIdx>
+                  <Name>19th mapping data</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>592</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>20</SubIdx>
+                  <Name>20th mapping data</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>624</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>21</SubIdx>
+                  <Name>21th mapping data</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>656</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>22</SubIdx>
+                  <Name>22th mapping data</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>688</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>23</SubIdx>
+                  <Name>23th mapping data</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>720</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>24</SubIdx>
+                  <Name>24th mapping data</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>752</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>25</SubIdx>
+                  <Name>25th mapping data</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>784</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>26</SubIdx>
+                  <Name>26th mapping data</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>816</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>27</SubIdx>
+                  <Name>27th mapping data</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>848</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>28</SubIdx>
+                  <Name>28th mapping data</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>880</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>29</SubIdx>
+                  <Name>29th mapping data</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>912</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>30</SubIdx>
+                  <Name>30th mapping data</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>944</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>31</SubIdx>
+                  <Name>31th mapping data</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>976</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT1800</Name>
+                <BitSize>50</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>6</SubIdx>
+                  <Name>TxPDO Excluded PDOs</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>7</SubIdx>
+                  <Name>TxPDO state</Name>
+                  <Type>BOOLEAN</Type>
+                  <BitSize>1</BitSize>
+                  <BitOffs>48</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                    <PdoMapping>RT</PdoMapping>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>9</SubIdx>
+                  <Name>TxPDO toggle</Name>
+                  <Type>BOOLEAN</Type>
+                  <BitSize>1</BitSize>
+                  <BitOffs>49</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                    <PdoMapping>RT</PdoMapping>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT1C00</Name>
+                <BitSize>80</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>SyncManager0 communication type</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>SyncManager1 communication type</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>24</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>3</SubIdx>
+                  <Name>SyncManager2 communication type</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>32</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>4</SubIdx>
+                  <Name>SyncManager3 communication type</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>40</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>5</SubIdx>
+                  <Name>SyncManager4 communication type</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>48</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>6</SubIdx>
+                  <Name>SyncManager5 communication type</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>56</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>7</SubIdx>
+                  <Name>SyncManager6 communication type</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>64</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>8</SubIdx>
+                  <Name>SyncManager7 communication type</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>72</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT1C10</Name>
+                <BitSize>16</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT1C12</Name>
+                <BitSize>80</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>Assign1</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>Assign2</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>32</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>3</SubIdx>
+                  <Name>Assign3</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>48</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>4</SubIdx>
+                  <Name>Assign4</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>64</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT1C32</Name>
+                <BitSize>272</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>Sync mode</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>Cycle time</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>32</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>3</SubIdx>
+                  <Name>Shift time</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>64</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>4</SubIdx>
+                  <Name>Sync modes supported</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>80</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>5</SubIdx>
+                  <Name>Minimum cycle time</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>96</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>6</SubIdx>
+                  <Name>Calc and copy time</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>128</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>8</SubIdx>
+                  <Name>Command</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>160</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>9</SubIdx>
+                  <Name>Delay time</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>176</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>11</SubIdx>
+                  <Name>Cycle time too small</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>208</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>12</SubIdx>
+                  <Name>SM event missed</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>224</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>13</SubIdx>
+                  <Name>Shift too short counter</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>240</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>32</SubIdx>
+                  <Name>Sync error</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>256</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                    <PdoMapping>RT</PdoMapping>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT2002</Name>
+                <BitSize>40</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>Tuning mode</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>Tuning feature</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>24</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>3</SubIdx>
+                  <Name>Tuning performance</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>32</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT2005</Name>
+                <BitSize>80</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>Kp1</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                    <PdoMapping>RT</PdoMapping>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>Kp2</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>32</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>3</SubIdx>
+                  <Name>Kp3</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>48</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>4</SubIdx>
+                  <Name>Kp4</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>64</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT2006</Name>
+                <BitSize>80</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>Tpi1</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                    <PdoMapping>RT</PdoMapping>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>Tpi2</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>32</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>3</SubIdx>
+                  <Name>Tpi3</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>48</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>4</SubIdx>
+                  <Name>Tpi4</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>64</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT2008</Name>
+                <BitSize>48</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>Feed forward gain</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                    <PdoMapping>RT</PdoMapping>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>Feed forward filter</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>32</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT200B</Name>
+                <BitSize>80</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>Kvp1</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                    <PdoMapping>RT</PdoMapping>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>Kvp2</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>32</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>3</SubIdx>
+                  <Name>Kvp3</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>48</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>4</SubIdx>
+                  <Name>Kvp4</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>64</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT200C</Name>
+                <BitSize>80</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>Tvi1</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                    <PdoMapping>RT</PdoMapping>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>Tvi2</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>32</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>3</SubIdx>
+                  <Name>Tvi3</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>48</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>4</SubIdx>
+                  <Name>Tvi4</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>64</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT200D</Name>
+                <BitSize>80</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>Jrat1</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                    <PdoMapping>RT</PdoMapping>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>Jrat2</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>32</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>3</SubIdx>
+                  <Name>Jrat3</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>48</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>4</SubIdx>
+                  <Name>Jrat4</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>64</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT200F</Name>
+                <BitSize>48</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>Acceleration feedback Gain</Name>
+                  <Type>INT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>Acceleration feedback filter</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>32</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT2011</Name>
+                <BitSize>80</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>Tcfil1</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                    <PdoMapping>RT</PdoMapping>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>Tcfil2</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>32</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>3</SubIdx>
+                  <Name>Tcfil3</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>48</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>4</SubIdx>
+                  <Name>Tcfil4</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>64</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT2012</Name>
+                <BitSize>80</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>Supfrq1</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                    <PdoMapping>RT</PdoMapping>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>Supfrq2</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>32</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>3</SubIdx>
+                  <Name>Supfrq3</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>48</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>4</SubIdx>
+                  <Name>Supfrq4</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>64</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT2014</Name>
+                <BitSize>80</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>Tcnfil A</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>Tcnfil B</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>32</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>3</SubIdx>
+                  <Name>Tcnfil C</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>48</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>4</SubIdx>
+                  <Name>Tcnfil D</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>64</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT2015</Name>
+                <BitSize>80</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>Acceleration compensation</Name>
+                  <Type>INT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                    <PdoMapping>RT</PdoMapping>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>Deceleration compensation</Name>
+                  <Type>INT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>32</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>3</SubIdx>
+                  <Name>Velocity command, Low-pass filter</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>48</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>4</SubIdx>
+                  <Name>Velocity command threshold</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>64</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT2016</Name>
+                <BitSize>120</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>Observer characteristic</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>Compention gain</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>24</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>3</SubIdx>
+                  <Name>Output filter</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>40</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>4</SubIdx>
+                  <Name>Notch filter</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>56</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>5</SubIdx>
+                  <Name>Load inertia rasio</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>72</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>6</SubIdx>
+                  <Name>loop proportional gain</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>88</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>7</SubIdx>
+                  <Name>Load torque filter</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>104</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT2017</Name>
+                <BitSize>80</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>Km1</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                    <PdoMapping>RT</PdoMapping>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>Km2</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>32</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>3</SubIdx>
+                  <Name>Km3</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>48</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>4</SubIdx>
+                  <Name>Km4</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>64</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT2019</Name>
+                <BitSize>80</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>Anrfrq1</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                    <PdoMapping>RT</PdoMapping>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>Anrfrq2</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>32</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>3</SubIdx>
+                  <Name>Anrfrq3</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>48</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>4</SubIdx>
+                  <Name>Anrfrq4</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>64</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT201A</Name>
+                <BitSize>80</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>Resfrq1</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                    <PdoMapping>RT</PdoMapping>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>Resfrq2</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>32</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>3</SubIdx>
+                  <Name>Resfrq3</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>48</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>4</SubIdx>
+                  <Name>Resfrq4</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>64</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT2023</Name>
+                <BitSize>40</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>Analog monitor1</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>Analog monitor2</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>24</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>3</SubIdx>
+                  <Name>Analog monitor output polarity</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>32</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT202D</Name>
+                <BitSize>48</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>Filter A, Low friquency phase delay improvement</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>Filter B, Depth selection</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>24</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>3</SubIdx>
+                  <Name>Filter C, Depth selection</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>32</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>4</SubIdx>
+                  <Name>Filter D, Depth selection</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>40</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT20F0</Name>
+                <BitSize>64</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>Limit behavior</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>Positioning method</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>24</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>3</SubIdx>
+                  <Name>Inposition / Position deviation monitor</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>32</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>4</SubIdx>
+                  <Name>Velocity window selection</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>40</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>5</SubIdx>
+                  <Name>Diviation clear selection</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>48</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>6</SubIdx>
+                  <Name>Torque attainment select</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>56</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT20F1</Name>
+                <BitSize>104</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>Encoder clear fanction</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>Incremental encoder, digital filter</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>24</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>3</SubIdx>
+                  <Name>External pulse encoder, digital filter</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>32</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>4</SubIdx>
+                  <Name>External pulse encoder polarity selection</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>40</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>5</SubIdx>
+                  <Name>CS offset</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>48</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>6</SubIdx>
+                  <Name>CS counter offset</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>64</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>7</SubIdx>
+                  <Name>Linear encoder porality selection</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>80</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>8</SubIdx>
+                  <Name>Extation command freq. setting value</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>88</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT20F2</Name>
+                <BitSize>56</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>Main power detection</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>Velocity control detection</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>24</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>3</SubIdx>
+                  <Name>Velocity feed back detection</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>32</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>4</SubIdx>
+                  <Name>Frame error filter</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>40</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>5</SubIdx>
+                  <Name>Comunication time out filter</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>48</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT20F3</Name>
+                <BitSize>32</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>Model control characteristic</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>Position loop encoder selection</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>24</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT20F8</Name>
+                <BitSize>64</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>Positive Over-Travel</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>Negative Over-Travel</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>24</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>3</SubIdx>
+                  <Name>External error input</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>32</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>4</SubIdx>
+                  <Name>Main powor forced discharge</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>48</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>5</SubIdx>
+                  <Name>Emergency stop</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>56</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>6</SubIdx>
+                  <Name>Magnetic pole position presumption</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>64</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT20F9</Name>
+                <BitSize>40</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>Output1 function</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>Output2 function</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>24</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>3</SubIdx>
+                  <Name>Output3 function</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>32</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT20FD</Name>
+                <BitSize>40</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>Main power input type</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>Regenerative resistor selection</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>24</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>3</SubIdx>
+                  <Name>Setup software, communication baud rate</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>32</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT20FF</Name>
+                <BitSize>80</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>Resolution setting</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>Encode type</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>32</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>3</SubIdx>
+                  <Name>External encoder resolution</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>48</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT2101</Name>
+                <BitSize>48</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>Error 1</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                    <PdoMapping>RT</PdoMapping>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>Error 2</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>24</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                    <PdoMapping>RT</PdoMapping>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>3</SubIdx>
+                  <Name>Error 3</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>32</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                    <PdoMapping>RT</PdoMapping>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>4</SubIdx>
+                  <Name>Error 4</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>40</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                    <PdoMapping>RT</PdoMapping>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT2102</Name>
+                <BitSize>272</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>now monitor</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>1st latest</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>48</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>3</SubIdx>
+                  <Name>2nd latest</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>80</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>4</SubIdx>
+                  <Name>3rd latest</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>112</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>5</SubIdx>
+                  <Name>4th latest</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>144</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>6</SubIdx>
+                  <Name>5th latest</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>176</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>7</SubIdx>
+                  <Name>6th latest</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>208</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>8</SubIdx>
+                  <Name>7th latest</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>240</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT2103</Name>
+                <BitSize>48</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>Warning monitor</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                    <PdoMapping>RT</PdoMapping>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>Warning mask</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>32</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT2104</Name>
+                <BitSize>80</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>Actual Kp</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                    <PdoMapping>RT</PdoMapping>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>Actual Tpi</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>32</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                    <PdoMapping>RT</PdoMapping>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>3</SubIdx>
+                  <Name>Actual Kvp</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>48</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                    <PdoMapping>RT</PdoMapping>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>4</SubIdx>
+                  <Name>Actual Tvi</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>64</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                    <PdoMapping>RT</PdoMapping>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>5</SubIdx>
+                  <Name>Actual Jrat</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>80</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                    <PdoMapping>RT</PdoMapping>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>6</SubIdx>
+                  <Name>Actual Tcfil</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>96</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                    <PdoMapping>RT</PdoMapping>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>7</SubIdx>
+                  <Name>Actual MKm</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>112</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                    <PdoMapping>RT</PdoMapping>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT2108</Name>
+                <BitSize>48</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>Motor operation rate</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                    <PdoMapping>RT</PdoMapping>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>Predicted motor operating</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>32</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                    <PdoMapping>RT</PdoMapping>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT2110</Name>
+                <BitSize>112</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>1st latest</Name>
+                  <Type>DINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                    <PdoMapping>RT</PdoMapping>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>2nd latest</Name>
+                  <Type>DINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>48</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                    <PdoMapping>RT</PdoMapping>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>3</SubIdx>
+                  <Name>3rd latest</Name>
+                  <Type>DINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>80</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                    <PdoMapping>RT</PdoMapping>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT2112</Name>
+                <BitSize>64</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>1st latest</Name>
+                  <Type>INT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                    <PdoMapping>RT</PdoMapping>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>2nd latest</Name>
+                  <Type>INT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>32</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                    <PdoMapping>RT</PdoMapping>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>3</SubIdx>
+                  <Name>3rd latest</Name>
+                  <Type>INT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>48</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                    <PdoMapping>RT</PdoMapping>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT607B</Name>
+                <BitSize>80</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>Minimum position limit</Name>
+                  <Type>DINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>Maximum position limit</Name>
+                  <Type>DINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>48</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT607D</Name>
+                <BitSize>80</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>Minimum position limit</Name>
+                  <Type>DINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>Muximum position limit</Name>
+                  <Type>DINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>48</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT6099</Name>
+                <BitSize>80</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>Speed during search for switch</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>Speed during search for zero</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>48</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT60C2</Name>
+                <BitSize>32</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>Interpolation time period value</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>Interpolation time index</Name>
+                  <Type>SINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>24</BitOffs>
+                  <Flags>
+                    <Access>rw</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT60E3</Name>
+                <BitSize>384</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>1st supported homing method</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>2</SubIdx>
+                  <Name>2nd supported homing method</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>32</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>3</SubIdx>
+                  <Name>3rd supported homing method</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>48</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>4</SubIdx>
+                  <Name>4th supported homing method</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>64</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>5</SubIdx>
+                  <Name>5th supported homing method</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>80</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>6</SubIdx>
+                  <Name>6th supported homing method</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>96</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>7</SubIdx>
+                  <Name>7th supported homing method</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>112</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>8</SubIdx>
+                  <Name>8th supported homing method</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>128</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>9</SubIdx>
+                  <Name>9th supported homing method</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>144</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>10</SubIdx>
+                  <Name>10th supported homing method</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>160</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>11</SubIdx>
+                  <Name>11th supported homing method</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>176</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>12</SubIdx>
+                  <Name>12th supported homing method</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>192</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>13</SubIdx>
+                  <Name>13th supported homing method</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>208</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>14</SubIdx>
+                  <Name>14th supported homing method</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>224</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>15</SubIdx>
+                  <Name>15th supported homing method</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>240</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>16</SubIdx>
+                  <Name>16th supported homing method</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>256</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>17</SubIdx>
+                  <Name>17th supported homing method</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>272</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>18</SubIdx>
+                  <Name>18th supported homing method</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>288</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>19</SubIdx>
+                  <Name>19th supported homing method</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>304</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>20</SubIdx>
+                  <Name>20th supported homing method</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>320</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>21</SubIdx>
+                  <Name>21th supported homing method</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>336</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>22</SubIdx>
+                  <Name>22th supported homing method</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>352</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>23</SubIdx>
+                  <Name>23th supported homing method</Name>
+                  <Type>UINT</Type>
+                  <BitSize>16</BitSize>
+                  <BitOffs>368</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+              </DataType>
+              <DataType>
+                <Name>DT60FE</Name>
+                <BitSize>48</BitSize>
+                <SubItem>
+                  <SubIdx>0</SubIdx>
+                  <Name>largest sub-index supported</Name>
+                  <Type>USINT</Type>
+                  <BitSize>8</BitSize>
+                  <BitOffs>0</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                  </Flags>
+                </SubItem>
+                <SubItem>
+                  <SubIdx>1</SubIdx>
+                  <Name>Physical output</Name>
+                  <Type>UDINT</Type>
+                  <BitSize>32</BitSize>
+                  <BitOffs>16</BitOffs>
+                  <Flags>
+                    <Access>ro</Access>
+                    <Category>o</Category>
+                    <PdoMapping>RT</PdoMapping>
+                  </Flags>
+                </SubItem>
+              </DataType>
+            </DataTypes>
+            <Objects>
+              <Object>
+                <Index>#x1000</Index>
+                <Name>Device type</Name>
+                <Type>UDINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>92010200</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <Category>m</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x1001</Index>
+                <Name>Error register</Name>
+                <Type>USINT</Type>
+                <BitSize>8</BitSize>
+                <Info>
+                  <DefaultData>00</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <Category>m</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x1008</Index>
+                <Name>Manufacturer device name</Name>
+                <Type>STRING(0)</Type>
+                <BitSize>0</BitSize>
+                <Info>
+                  <DefaultString>102R</DefaultString>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x1009</Index>
+                <Name>Manufacturer hardware version</Name>
+                <Type>STRING(0)</Type>
+                <BitSize>0</BitSize>
+                <Flags>
+                  <Access>ro</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x100a</Index>
+                <Name>Manufacturer software version</Name>
+                <Type>STRING(0)</Type>
+                <BitSize>0</BitSize>
+                <Flags>
+                  <Access>ro</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x1010</Index>
+                <Name>Store parameters</Name>
+                <Type>DT1010</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>01</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Save all parameters</Name>
+                    <Info>
+                      <DefaultData>00000000</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x1018</Index>
+                <Name>Identity object</Name>
+                <Type>DT1018</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>04</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Vendor ID</Name>
+                    <Info>
+                      <DefaultData>b9010000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Product code</Name>
+                    <Info>
+                      <DefaultData>02000000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Revision</Name>
+                    <Info>
+                      <DefaultData>00000000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Serial number</Name>
+                    <Info>
+                      <DefaultData>00000000</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <Category>m</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x1400</Index>
+                <Name>1st RxPDO parameter</Name>
+                <Type>DT1400</Type>
+                <BitSize>51</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>09</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>RxPDO Excluded PDOs</Name>
+                    <Info>
+                      <DefaultData>00000000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>RxPDO state</Name>
+                    <Info>
+                      <DefaultData>00</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>RxPDO contrall</Name>
+                    <Info>
+                      <DefaultData>00</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>RxPDO toggle</Name>
+                    <Info>
+                      <DefaultData>00</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x1401</Index>
+                <Name>2nd RxPDO parameter</Name>
+                <Type>DT1400</Type>
+                <BitSize>51</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>09</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>RxPDO Excluded PDOs</Name>
+                    <Info>
+                      <DefaultData>00000000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>RxPDO state</Name>
+                    <Info>
+                      <DefaultData>00</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>RxPDO contrall</Name>
+                    <Info>
+                      <DefaultData>00</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>RxPDO toggle</Name>
+                    <Info>
+                      <DefaultData>00</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x1402</Index>
+                <Name>3rd RxPDO parameter</Name>
+                <Type>DT1400</Type>
+                <BitSize>51</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>09</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>RxPDO Excluded PDOs</Name>
+                    <Info>
+                      <DefaultData>00000000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>RxPDO state</Name>
+                    <Info>
+                      <DefaultData>00</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>RxPDO contrall</Name>
+                    <Info>
+                      <DefaultData>00</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>RxPDO toggle</Name>
+                    <Info>
+                      <DefaultData>00</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x1403</Index>
+                <Name>4th RxPDO parameter</Name>
+                <Type>DT1400</Type>
+                <BitSize>51</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>09</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>RxPDO Excluded PDOs</Name>
+                    <Info>
+                      <DefaultData>00000000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>RxPDO state</Name>
+                    <Info>
+                      <DefaultData>00</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>RxPDO contrall</Name>
+                    <Info>
+                      <DefaultData>00</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>RxPDO toggle</Name>
+                    <Info>
+                      <DefaultData>00</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x1500</Index>
+                <Name>257th RxPDO parameter</Name>
+                <Type>DT1400</Type>
+                <BitSize>51</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>09</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>RxPDO Excluded PDOs</Name>
+                    <Info>
+                      <DefaultData>00000000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>RxPDO state</Name>
+                    <Info>
+                      <DefaultData>00</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>RxPDO contrall</Name>
+                    <Info>
+                      <DefaultData>00</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>RxPDO toggle</Name>
+                    <Info>
+                      <DefaultData>00</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x1501</Index>
+                <Name>258th RxPDO parameter</Name>
+                <Type>DT1400</Type>
+                <BitSize>51</BitSize>
+                <Info>
+                  <SubItem>
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+              </Object>
+              <Object>
+                <Index>#x200e</Index>
+                <Name>Higher tracking control, velocity compensation gain</Name>
+                <Type>UINT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>0000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x200f</Index>
+                <Name>Acceleration feedback compensation</Name>
+                <Type>DT200F</Type>
+                <BitSize>48</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>02</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Acceleration feedback Gain</Name>
+                    <Info>
+                      <DefaultData>0000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Acceleration feedback filter</Name>
+                    <Info>
+                      <DefaultData>F401</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x2011</Index>
+                <Name>Torque command filter</Name>
+                <Type>DT2011</Type>
+                <BitSize>80</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>04</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Tcfil1</Name>
+                    <Info>
+                      <DefaultData>5802</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Tcfil2</Name>
+                    <Info>
+                      <DefaultData>5802</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Tcfil3</Name>
+                    <Info>
+                      <DefaultData>5802</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Tcfil4</Name>
+                    <Info>
+                      <DefaultData>5802</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x2012</Index>
+                <Name>Vibration Suppressor Friquency</Name>
+                <Type>DT2012</Type>
+                <BitSize>80</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>04</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Supfrq1</Name>
+                    <Info>
+                      <DefaultData>F401</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Supfrq2</Name>
+                    <Info>
+                      <DefaultData>F401</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Supfrq3</Name>
+                    <Info>
+                      <DefaultData>F401</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Supfrq4</Name>
+                    <Info>
+                      <DefaultData>F401</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x2013</Index>
+                <Name>Velocity command, Notch filter</Name>
+                <Type>UINT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>E803</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x2014</Index>
+                <Name>Torque command, Notch filter</Name>
+                <Type>DT2014</Type>
+                <BitSize>80</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>04</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Tcnfil A</Name>
+                    <Info>
+                      <DefaultData>A00F</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Tcnfil B</Name>
+                    <Info>
+                      <DefaultData>A00F</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Tcnfil C</Name>
+                    <Info>
+                      <DefaultData>A00F</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Tcnfil D</Name>
+                    <Info>
+                      <DefaultData>A00F</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x2015</Index>
+                <Name>High setting</Name>
+                <Type>DT2017</Type>
+                <BitSize>80</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>04</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Acceleration compensation</Name>
+                    <Info>
+                      <DefaultData>0000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Deceleration compensation</Name>
+                    <Info>
+                      <DefaultData>0000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Velocity command, Low-pass filter</Name>
+                    <Info>
+                      <DefaultData>E803</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Velocity command threshold</Name>
+                    <Info>
+                      <DefaultData>1400</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x2016</Index>
+                <Name>Observer parameter</Name>
+                <Type>DT2016</Type>
+                <BitSize>96</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>07</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Observer characteristic</Name>
+                    <Info>
+                      <DefaultData>00</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Compention gain</Name>
+                    <Info>
+                      <DefaultData>0000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Output filter</Name>
+                    <Info>
+                      <DefaultData>3200</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Notch filter</Name>
+                    <Info>
+                      <DefaultData>A00F</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Load inertia rasio</Name>
+                    <Info>
+                      <DefaultData>6400</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>loop proportional gain</Name>
+                    <Info>
+                      <DefaultData>2C01</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Load torque filter</Name>
+                    <Info>
+                      <DefaultData>3200</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x2017</Index>
+                <Name>Model control Gain</Name>
+                <Type>DT2017</Type>
+                <BitSize>80</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>04</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Km1</Name>
+                    <Info>
+                      <DefaultData>1E00</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Km2</Name>
+                    <Info>
+                      <DefaultData>1E00</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Km3</Name>
+                    <Info>
+                      <DefaultData>1E00</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Km4</Name>
+                    <Info>
+                      <DefaultData>1E00</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x2018</Index>
+                <Name>Overshooting control filter</Name>
+                <Type>UINT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>DC05</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x2019</Index>
+                <Name>Model Control Anti-resonance friquency</Name>
+                <Type>DT2019</Type>
+                <BitSize>80</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>04</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Anrfrq1</Name>
+                    <Info>
+                      <DefaultData>2003</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Anrfrq2</Name>
+                    <Info>
+                      <DefaultData>2003</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Anrfrq3</Name>
+                    <Info>
+                      <DefaultData>2003</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Anrfrq4</Name>
+                    <Info>
+                      <DefaultData>2003</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x201a</Index>
+                <Name>Model Control resonance friquency</Name>
+                <Type>DT201A</Type>
+                <BitSize>80</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>04</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Resfrq1</Name>
+                    <Info>
+                      <DefaultData>2003</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Resfrq2</Name>
+                    <Info>
+                      <DefaultData>2003</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Resfrq3</Name>
+                    <Info>
+                      <DefaultData>2003</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Resfrq4</Name>
+                    <Info>
+                      <DefaultData>2003</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x201b</Index>
+                <Name>Low pass filter of Gain Switching</Name>
+                <Type>UINT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>0000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x201c</Index>
+                <Name>Internal velocity comannd limit</Name>
+                <Type>UINT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>ffff</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x201d</Index>
+                <Name>Position command error 1 level</Name>
+                <Type>UDINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>ffffffff</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x201e</Index>
+                <Name>Torque limit at Sequence operation</Name>
+                <Type>UINT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>B004</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x201f</Index>
+                <Name>In position near range</Name>
+                <Type>UDINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>F4010000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x2020</Index>
+                <Name>Speed zero range</Name>
+                <Type>UINT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>3200</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x2021</Index>
+                <Name>Low speed range</Name>
+                <Type>UINT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>3200</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x2022</Index>
+                <Name>High speed range</Name>
+                <Type>UINT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>E803</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x2023</Index>
+                <Name>Analog monitor parameter</Name>
+                <Type>DT2023</Type>
+                <BitSize>40</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>03</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Analog monitor1</Name>
+                    <Info>
+                      <DefaultData>05</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Analog monitor2</Name>
+                    <Info>
+                      <DefaultData>02</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Analog monitor output polarity</Name>
+                    <Info>
+                      <DefaultData>00</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x2024</Index>
+                <Name>Delay time of engaging holding brake</Name>
+                <Type>UINT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>C201</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x2025</Index>
+                <Name>Delay time of releasing holding brake</Name>
+                <Type>UINT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>C201</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x2026</Index>
+                <Name>Brake operation beginning time</Name>
+                <Type>UINT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>1027</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x2027</Index>
+                <Name>Power failure detection delay</Name>
+                <Type>UINT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>2000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x2028</Index>
+                <Name>Following error warning level</Name>
+                <Type>UDINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>FFFFFF7F</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x2029</Index>
+                <Name>Over load warning level</Name>
+                <Type>UINT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>5A00</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x202a</Index>
+                <Name>Speed maching width</Name>
+                <Type>UINT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>3200</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x202b</Index>
+                <Name>Torque command filter characteristic</Name>
+                <Type>USINT</Type>
+                <BitSize>8</BitSize>
+                <Info>
+                  <DefaultData>02</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x202c</Index>
+                <Name>Feed forward filter, Depth selection</Name>
+                <Type>USINT</Type>
+                <BitSize>8</BitSize>
+                <Info>
+                  <DefaultData>00</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x202d</Index>
+                <Name>Torque command, Notch filter feature</Name>
+                <Type>DT202D</Type>
+                <BitSize>48</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>04</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Filter A, Low friquency phase delay improvement</Name>
+                    <Info>
+                      <DefaultData>00</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Filter B, Depth selection</Name>
+                    <Info>
+                      <DefaultData>00</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Filter C, Depth selection</Name>
+                    <Info>
+                      <DefaultData>00</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Filter D, Depth selection</Name>
+                    <Info>
+                      <DefaultData>00</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x202e</Index>
+                <Name>Torque attainment setting</Name>
+                <Type>UINT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>6400</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x20f0</Index>
+                <Name>Amplifier fanction selection</Name>
+                <Type>DT20F0</Type>
+                <BitSize>56</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>06</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Limit behavior</Name>
+                    <Info>
+                      <DefaultData>00</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Positioning method</Name>
+                    <Info>
+                      <DefaultData>00</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Inposition / Position deviation monitor</Name>
+                    <Info>
+                      <DefaultData>00</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Velocity window selection</Name>
+                    <Info>
+                      <DefaultData>00</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Diviation clear selection</Name>
+                    <Info>
+                      <DefaultData>00</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Torque attainment select</Name>
+                    <Info>
+                      <DefaultData>00</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x20f1</Index>
+                <Name>Sensor fanction selection</Name>
+                <Type>DT20F1</Type>
+                <BitSize>104</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>08</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Encoder clear fanction</Name>
+                    <Info>
+                      <DefaultData>00</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Incremental encoder, digital filter</Name>
+                    <Info>
+                      <DefaultData>01</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>External pulse encoder, digital filter</Name>
+                    <Info>
+                      <DefaultData>01</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>External pulse encoder polarity selection</Name>
+                    <Info>
+                      <DefaultData>00</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>CS offset</Name>
+                    <Info>
+                      <DefaultData>4A01</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>CS counter offset</Name>
+                    <Info>
+                      <DefaultData>4A01</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Linear encoder porality selection</Name>
+                    <Info>
+                      <DefaultData>00</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Extation command freq. setting value</Name>
+                    <Info>
+                      <DefaultData>3200</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x20f2</Index>
+                <Name>Amplifier alarm detect selection</Name>
+                <Type>DT20F2</Type>
+                <BitSize>48</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>03</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Main power detection</Name>
+                    <Info>
+                      <DefaultData>01</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Velocity control detection</Name>
+                    <Info>
+                      <DefaultData>00</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Velocity feed back detection</Name>
+                    <Info>
+                      <DefaultData>01</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Frame error filter</Name>
+                    <Info>
+                      <DefaultData>00</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Comunication time out filter</Name>
+                    <Info>
+                      <DefaultData>00</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x20f3</Index>
+                <Name>Position loop selection</Name>
+                <Type>DT20F3</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>02</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Model control characteristic</Name>
+                    <Info>
+                      <DefaultData>00</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Position loop encoder selection</Name>
+                    <Info>
+                      <DefaultData>00</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x20f4</Index>
+                <Name>Servo loop delay time</Name>
+                <Type>USINT</Type>
+                <BitSize>8</BitSize>
+                <Info>
+                  <DefaultData>00</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x20f5</Index>
+                <Name>Torque limit at power supply shortage</Name>
+                <Type>USINT</Type>
+                <BitSize>8</BitSize>
+                <Info>
+                  <DefaultData>00</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x20f8</Index>
+                <Name>General purpose input setting</Name>
+                <Type>DT20F8</Type>
+                <BitSize>64</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>06</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Positive limit switch</Name>
+                    <Info>
+                      <DefaultData>00</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Negative limit switch</Name>
+                    <Info>
+                      <DefaultData>00</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>External error input</Name>
+                    <Info>
+                      <DefaultData>00</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Main powor forced discharge</Name>
+                    <Info>
+                      <DefaultData>01</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Emergency stop</Name>
+                    <Info>
+                      <DefaultData>00</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Magnetic pole position presumption</Name>
+                    <Info>
+                      <DefaultData>00</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x20f9</Index>
+                <Name>General purpose output setting</Name>
+                <Type>DT20F9</Type>
+                <BitSize>40</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>03</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Output1 function</Name>
+                    <Info>
+                      <DefaultData>03</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Output2 function</Name>
+                    <Info>
+                      <DefaultData>0C</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Output3 function</Name>
+                    <Info>
+                      <DefaultData>39</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x20fa</Index>
+                <Name>Extend station alias</Name>
+                <Type>UINT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>0000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x20fd</Index>
+                <Name>Amplifier system selection</Name>
+                <Type>DT20FD</Type>
+                <BitSize>40</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>03</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Main power input type</Name>
+                    <Info>
+                      <DefaultData>03</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Regenerative resistor selection</Name>
+                    <Info>
+                      <DefaultData>01</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Setup software, communication baud rate</Name>
+                    <Info>
+                      <DefaultData>03</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x20fe</Index>
+                <Name>Combined motor code</Name>
+                <Type>UINT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>0100</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x20ff</Index>
+                <Name>Combined sensor</Name>
+                <Type>DT20FF</Type>
+                <BitSize>80</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>03</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Resolution setting</Name>
+                    <Info>
+                      <DefaultData>0600</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Encode type</Name>
+                    <Info>
+                      <DefaultData>0003</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>External encoder resolution</Name>
+                    <Info>
+                      <DefaultData>D0070000</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x2100</Index>
+                <Name>Status word 1</Name>
+                <Type>UINT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>0000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <Category>o</Category>
+                  <PdoMapping>RT</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x2101</Index>
+                <Name>Slave error field</Name>
+                <Type>DT2101</Type>
+                <BitSize>48</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>04</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Error 1</Name>
+                    <Info>
+                      <DefaultData>00</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Error 2</Name>
+                    <Info>
+                      <DefaultData>00</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Error 3</Name>
+                    <Info>
+                      <DefaultData>00</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Error 4</Name>
+                    <Info>
+                      <DefaultData>00</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x2102</Index>
+                <Name>Description of alarm trace</Name>
+                <Type>DT2102</Type>
+                <BitSize>272</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>08</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>now monitor</Name>
+                    <Info>
+                      <DefaultData>00000000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>1st latest</Name>
+                    <Info>
+                      <DefaultData>00000000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>2nd latest</Name>
+                    <Info>
+                      <DefaultData>00000000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>3rd latest</Name>
+                    <Info>
+                      <DefaultData>00000000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>4th latest</Name>
+                    <Info>
+                      <DefaultData>00000000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>5th latest</Name>
+                    <Info>
+                      <DefaultData>00000000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>6th latest</Name>
+                    <Info>
+                      <DefaultData>00000000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>7th latest</Name>
+                    <Info>
+                      <DefaultData>00000000</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x2103</Index>
+                <Name>Warning status</Name>
+                <Type>DT2103</Type>
+                <BitSize>48</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>02</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Warning monitor</Name>
+                    <Info>
+                      <DefaultData>0000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Warning mask</Name>
+                    <Info>
+                      <DefaultData>8D4C</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x2104</Index>
+                <Name>Actual gein</Name>
+                <Type>DT2104</Type>
+                <BitSize>128</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>07</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Actual Kp</Name>
+                    <Info>
+                      <DefaultData>1E00</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Actual Kpi</Name>
+                    <Info>
+                      <DefaultData>1027</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Actual Kvp</Name>
+                    <Info>
+                      <DefaultData>3200</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Actual Tvi</Name>
+                    <Info>
+                      <DefaultData>C800</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Actual Jrat</Name>
+                    <Info>
+                      <DefaultData>6400</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Actual Tcfil</Name>
+                    <Info>
+                      <DefaultData>5802</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Actual Km</Name>
+                    <Info>
+                      <DefaultData>1E00</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x2105</Index>
+                <Name>Zero phase signal base actual position value</Name>
+                <Type>UDINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>00000000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <Category>o</Category>
+                  <PdoMapping>RT</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x2106</Index>
+                <Name>Internal velocity command monitor</Name>
+                <Type>DINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>00000000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <Category>o</Category>
+                  <PdoMapping>RT</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x2107</Index>
+                <Name>Internal torque command monitor</Name>
+                <Type>INT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>0000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <Category>o</Category>
+                  <PdoMapping>RT</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x2108</Index>
+                <Name>Motor operation rate monitor</Name>
+                <Type>DT2108</Type>
+                <BitSize>48</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>02</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Motor operation rate</Name>
+                    <Info>
+                      <DefaultData>0000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Predicted motor operating</Name>
+                    <Info>
+                      <DefaultData>0000</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x2109</Index>
+                <Name>Internal temperature monitor</Name>
+                <Type>INT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>0000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <Category>o</Category>
+                  <PdoMapping>RT</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x210a</Index>
+                <Name>Regenerative resistor operation percentage</Name>
+                <Type>UINT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>0000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <Category>o</Category>
+                  <PdoMapping>RT</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x210c</Index>
+                <Name>Home index position detection value</Name>
+                <Type>DINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>00000000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <Category>o</Category>
+                  <PdoMapping>RT</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x2110</Index>
+                <Name>Internal control cycle position actual value</Name>
+                <Type>DT2110</Type>
+                <BitSize>112</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>04</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Position actual 0.125ms latest</Name>
+                    <Info>
+                      <DefaultData>00000000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Position actual 0.25ms latest</Name>
+                    <Info>
+                      <DefaultData>00000000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Position actual 0.375ms latest</Name>
+                    <Info>
+                      <DefaultData>00000000</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x2111</Index>
+                <Name>Internal control cycle velocity actual value</Name>
+                <Type>DT2110</Type>
+                <BitSize>112</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>04</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Velocity actual 0.125ms latest</Name>
+                    <Info>
+                      <DefaultData>00000000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Velocity actual 0.25ms latest</Name>
+                    <Info>
+                      <DefaultData>00000000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Velocity actual 0.375s latest</Name>
+                    <Info>
+                      <DefaultData>00000000</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x2112</Index>
+                <Name>Internal control cycle torque actual value</Name>
+                <Type>DT2112</Type>
+                <BitSize>64</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>04</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Torque actual 0.125ms latest </Name>
+                    <Info>
+                      <DefaultData>0000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Torque actual 0.25ms latest </Name>
+                    <Info>
+                      <DefaultData>0000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Torque actual 0.375ms latest </Name>
+                    <Info>
+                      <DefaultData>0000</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x2113</Index>
+                <Name>Minimum comunication cycle position actual Value</Name>
+                <Type>DT2110</Type>
+                <BitSize>112</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>04</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Position actual 0.5ms latest</Name>
+                    <Info>
+                      <DefaultData>00000000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Position actual 1ms latest</Name>
+                    <Info>
+                      <DefaultData>00000000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Position actual 1.5ms latest</Name>
+                    <Info>
+                      <DefaultData>00000000</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x2114</Index>
+                <Name>Minimum comunication cycle velocity actual value</Name>
+                <Type>DT2110</Type>
+                <BitSize>112</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>04</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>velocity actual 0.5ms latest</Name>
+                    <Info>
+                      <DefaultData>00000000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>velocity actual 1ms latest</Name>
+                    <Info>
+                      <DefaultData>00000000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>velocity actual 1.5ms latest</Name>
+                    <Info>
+                      <DefaultData>00000000</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x2115</Index>
+                <Name>Minimum comunication cycle torque actual value</Name>
+                <Type>DT2112</Type>
+                <BitSize>64</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>04</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Torque actual 0.5ms latest</Name>
+                    <Info>
+                      <DefaultData>0000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Torque actual 1ms latest</Name>
+                    <Info>
+                      <DefaultData>0000</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Torque actual 1.5ms latest</Name>
+                    <Info>
+                      <DefaultData>0000</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x6007</Index>
+                <Name>About connection option code</Name>
+                <Type>INT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>0300</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x603f</Index>
+                <Name>Error code</Name>
+                <Type>UINT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>0000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <Category>m</Category>
+                  <PdoMapping>RT</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x6040</Index>
+                <Name>Control word</Name>
+                <Type>UINT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>0000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>m</Category>
+                  <PdoMapping>RT</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x6041</Index>
+                <Name>Status word</Name>
+                <Type>UINT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>0000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <Category>o</Category>
+                  <PdoMapping>RT</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x605a</Index>
+                <Name>Quick stop option code</Name>
+                <Type>INT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>0200</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x605b</Index>
+                <Name>Shutdown option code</Name>
+                <Type>INT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>ffff</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x605c</Index>
+                <Name>Disable operation option code</Name>
+                <Type>INT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>0000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x605d</Index>
+                <Name>Halt option code</Name>
+                <Type>INT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>0100</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x605e</Index>
+                <Name>Fault reaction option code</Name>
+                <Type>INT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>0300</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x6060</Index>
+                <Name>Modes of operation</Name>
+                <Type>SINT</Type>
+                <BitSize>8</BitSize>
+                <Info>
+                  <DefaultData>00</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                  <PdoMapping>RT</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x6061</Index>
+                <Name>Modes of operation display</Name>
+                <Type>SINT</Type>
+                <BitSize>8</BitSize>
+                <Info>
+                  <DefaultData>00</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <Category>o</Category>
+                  <PdoMapping>RT</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x6063</Index>
+                <Name>Internal position actualvalue</Name>
+                <Type>DINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>00000000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                  <PdoMapping>RT</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x6064</Index>
+                <Name>Position actual value</Name>
+                <Type>DINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>00000000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                  <PdoMapping>RT</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x6065</Index>
+                <Name>Following error window</Name>
+                <Type>UDINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>404B4C00</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                  <PdoMapping>RT</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x6066</Index>
+                <Name>Following error time out</Name>
+                <Type>UINT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>0000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x6067</Index>
+                <Name>Position window</Name>
+                <Type>UDINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>F4010000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                  <PdoMapping>RT</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x6068</Index>
+                <Name>Position window time</Name>
+                <Type>UINT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>0000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x606a</Index>
+                <Name>Sensor selection code</Name>
+                <Type>INT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>0000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x606c</Index>
+                <Name>Velocity actual value</Name>
+                <Type>DINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>00000000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                  <PdoMapping>RT</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x606d</Index>
+                <Name> Velocity window</Name>
+                <Type>UINT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>3200</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x606e</Index>
+                <Name>Velocity window time</Name>
+                <Type>UINT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>0000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x6071</Index>
+                <Name>Target torque</Name>
+                <Type>INT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>0000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                  <PdoMapping>RT</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x6072</Index>
+                <Name>Max torque</Name>
+                <Type>UINT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>8813</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                  <PdoMapping>RT</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x6077</Index>
+                <Name>Torque actual value</Name>
+                <Type>INT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>0000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <Category>o</Category>
+                  <PdoMapping>RT</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x607a</Index>
+                <Name>Target position</Name>
+                <Type>DINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>00000000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                  <PdoMapping>RT</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x607b</Index>
+                <Name>Position range limit</Name>
+                <Type>DT607D</Type>
+                <BitSize>80</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>02</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Minimum position range limit</Name>
+                    <Info>
+                      <DefaultData>00000080</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Muximum position range limit</Name>
+                    <Info>
+                      <DefaultData>ffffff7f</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x607c</Index>
+                <Name>Home offset</Name>
+                <Type>DINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>00000000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                  <PdoMapping>RT</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x607d</Index>
+                <Name>Software position limit</Name>
+                <Type>DT607D</Type>
+                <BitSize>80</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>02</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Minimum Software position limit</Name>
+                    <Info>
+                      <DefaultData>00000080</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Muximum Software position limit</Name>
+                    <Info>
+                      <DefaultData>ffffff7f</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x607e</Index>
+                <Name>Polarity</Name>
+                <Type>USINT</Type>
+                <BitSize>8</BitSize>
+                <Info>
+                  <DefaultData>00</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x607f</Index>
+                <Name>Max profile velocity</Name>
+                <Type>UDINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>FFFFFFFF</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x6081</Index>
+                <Name>Profile velocity</Name>
+                <Type>UDINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>00006400</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>m</Category>
+                  <PdoMapping>RT</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x6083</Index>
+                <Name>Profile acceleration</Name>
+                <Type>UDINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>FFFFFFFF</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                  <PdoMapping>RT</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x6084</Index>
+                <Name>Profile deceleration</Name>
+                <Type>UDINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>ffffffff</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                  <PdoMapping>RT</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x6085</Index>
+                <Name>Quick stop deceleration</Name>
+                <Type>UDINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>ffffffff</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x6086</Index>
+                <Name>Motion profile type</Name>
+                <Type>INT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>0000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x6087</Index>
+                <Name>Torque slope</Name>
+                <Type>UDINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>ffffffff</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x6098</Index>
+                <Name>Homing method</Name>
+                <Type>SINT</Type>
+                <BitSize>8</BitSize>
+                <Info>
+                  <DefaultData>00</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x6099</Index>
+                <Name>Homing speeds</Name>
+                <Type>DT6099</Type>
+                <BitSize>80</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>02</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Speed during search for switch</Name>
+                    <Info>
+                      <DefaultData>55550300</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Speed during search for zero</Name>
+                    <Info>
+                      <DefaultData>88080000</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                  <PdoMapping>RT</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x609a</Index>
+                <Name>Homing acceleration</Name>
+                <Type>UDINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>ffffffff</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x60b0</Index>
+                <Name>Profile offset</Name>
+                <Type>DINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>00000000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                  <PdoMapping>RT</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x60b1</Index>
+                <Name>Velocity offset</Name>
+                <Type>DINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>00000000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                  <PdoMapping>RT</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x60b2</Index>
+                <Name>Torque offset</Name>
+                <Type>INT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>0000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                  <PdoMapping>RT</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x60b8</Index>
+                <Name>Touch probe function</Name>
+                <Type>UINT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>0000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                  <PdoMapping>RT</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x60b9</Index>
+                <Name>Touch probe status</Name>
+                <Type>UINT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>0000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <Category>o</Category>
+                  <PdoMapping>RT</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x60ba</Index>
+                <Name>Touch probe position 1 positive value</Name>
+                <Type>DINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>0000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <Category>o</Category>
+                  <PdoMapping>RT</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x60bb</Index>
+                <Name>Touch probe position 1 negative value</Name>
+                <Type>DINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>0000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <Category>o</Category>
+                  <PdoMapping>RT</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x60bc</Index>
+                <Name>Touch probe position 2 positive value</Name>
+                <Type>DINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>0000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <Category>o</Category>
+                  <PdoMapping>RT</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x60bd</Index>
+                <Name>Touch probe position 2 negative value</Name>
+                <Type>DINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>0000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <Category>o</Category>
+                  <PdoMapping>RT</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x60c2</Index>
+                <Name>Interpolation time period</Name>
+                <Type>DT60C2</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>02</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Interpolation time period value</Name>
+                    <Info>
+                      <DefaultData>05</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Interpolation time index</Name>
+                    <Info>
+                      <DefaultData>fc</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x60e0</Index>
+                <Name>Positive torque limit</Name>
+                <Type>UINT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>E803</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                  <PdoMapping>RT</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x60e1</Index>
+                <Name>Negative torque limit</Name>
+                <Type>UINT</Type>
+                <BitSize>16</BitSize>
+                <Info>
+                  <DefaultData>E803</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                  <PdoMapping>RT</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x60e3</Index>
+                <Name>Supported homing methods</Name>
+                <Type>DT60E3</Type>
+                <BitSize>352</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>17</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>1st supported homing method</Name>
+                    <Info>
+                      <DefaultData>0103</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>2nd supported homing method</Name>
+                    <Info>
+                      <DefaultData>0203</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>3rd supported homing method</Name>
+                    <Info>
+                      <DefaultData>0303</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>4th supported homing method</Name>
+                    <Info>
+                      <DefaultData>0403</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>5th supported homing method</Name>
+                    <Info>
+                      <DefaultData>0503</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>6th supported homing method</Name>
+                    <Info>
+                      <DefaultData>0603</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>7th supported homing method</Name>
+                    <Info>
+                      <DefaultData>0703</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>8th supported homing method</Name>
+                    <Info>
+                      <DefaultData>0803</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>9th supported homing method</Name>
+                    <Info>
+                      <DefaultData>0903</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>10th supported homing method</Name>
+                    <Info>
+                      <DefaultData>0a03</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>11th supported homing method</Name>
+                    <Info>
+                      <DefaultData>0b03</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>12th supported homing method</Name>
+                    <Info>
+                      <DefaultData>0c03</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>13th supported homing method</Name>
+                    <Info>
+                      <DefaultData>0d03</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>14th supported homing method</Name>
+                    <Info>
+                      <DefaultData>0e03</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>15th supported homing method</Name>
+                    <Info>
+                      <DefaultData>1103</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>16th supported homing method</Name>
+                    <Info>
+                      <DefaultData>1203</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>17th supported homing method</Name>
+                    <Info>
+                      <DefaultData>1303</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>18th supported homing method</Name>
+                    <Info>
+                      <DefaultData>1403</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>19th supported homing method</Name>
+                    <Info>
+                      <DefaultData>1503</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>20th supported homing method</Name>
+                    <Info>
+                      <DefaultData>1603</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>21th supported homing method</Name>
+                    <Info>
+                      <DefaultData>2103</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>22th supported homing method</Name>
+                    <Info>
+                      <DefaultData>2203</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>23th supported homing method</Name>
+                    <Info>
+                      <DefaultData>2303</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
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+                  <Access>ro</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x60e6</Index>
+                <Name>Position actual value calcuation method</Name>
+                <Type>USINT</Type>
+                <BitSize>8</BitSize>
+                <Info>
+                  <DefaultData>00</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x60f4</Index>
+                <Name>Following error actualvalue</Name>
+                <Type>DINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>00000000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <Category>o</Category>
+                  <PdoMapping>RT</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x60fd</Index>
+                <Name>Digital inputs</Name>
+                <Type>UDINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>00000000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <Category>o</Category>
+                  <PdoMapping>RT</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x60fe</Index>
+                <Name>Digital outputs</Name>
+                <Type>DT60FE</Type>
+                <BitSize>48</BitSize>
+                <Info>
+                  <SubItem>
+                    <Name>largest sub-index supported</Name>
+                    <Info>
+                      <DefaultData>01</DefaultData>
+                    </Info>
+                  </SubItem>
+                  <SubItem>
+                    <Name>Physical output</Name>
+                    <Info>
+                      <DefaultData>00000000</DefaultData>
+                    </Info>
+                  </SubItem>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x60ff</Index>
+                <Name>Target velocity</Name>
+                <Type>DINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>00000000</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>rw</Access>
+                  <Category>o</Category>
+                  <PdoMapping>RT</PdoMapping>
+                </Flags>
+              </Object>
+              <Object>
+                <Index>#x6502</Index>
+                <Name>Supported drive mode</Name>
+                <Type>UDINT</Type>
+                <BitSize>32</BitSize>
+                <Info>
+                  <DefaultData>80030300</DefaultData>
+                </Info>
+                <Flags>
+                  <Access>ro</Access>
+                  <Category>o</Category>
+                </Flags>
+              </Object>
+            </Objects>
+          </Dictionary>
+        </Profile>
+        <Fmmu>Outputs</Fmmu>
+        <Fmmu>Inputs</Fmmu>
+        <Sm MinSize="128" MaxSize="1024" DefaultSize="512" StartAddress="#x1800" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+        <Sm MinSize="128" MaxSize="1024" DefaultSize="512" StartAddress="#x1c00" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+        <Sm StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
+        <Sm StartAddress="#x1400" ControlByte="#x20" Enable="1">Inputs</Sm>
+        <Su>Drives</Su>
+        <RxPdo Fixed="1">
+          <Index>#x1600</Index>
+          <Name>Outputs</Name>
+          <Exclude>#x1601</Exclude>
+          <Exclude>#x1602</Exclude>
+          <Exclude>#x1603</Exclude>
+          <Exclude>#x1700</Exclude>
+          <Exclude>#x1701</Exclude>
+          <Exclude>#x1702</Exclude>
+          <Exclude>#x1703</Exclude>
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+            <Index>#x6040</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Control word</Name>
+            <DataType>UINT</DataType>
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+        </RxPdo>
+        <RxPdo Fixed="1">
+          <Index>#x1601</Index>
+          <Name>Outputs</Name>
+          <Exclude>#x1600</Exclude>
+          <Exclude>#x1602</Exclude>
+          <Exclude>#x1603</Exclude>
+          <Exclude>#x1700</Exclude>
+          <Exclude>#x1701</Exclude>
+          <Exclude>#x1702</Exclude>
+          <Exclude>#x1703</Exclude>
+        </RxPdo>
+        <RxPdo Fixed="1">
+          <Index>#x1602</Index>
+          <Name>Outputs</Name>
+          <Exclude>#x1600</Exclude>
+          <Exclude>#x1601</Exclude>
+          <Exclude>#x1603</Exclude>
+          <Exclude>#x1700</Exclude>
+          <Exclude>#x1701</Exclude>
+          <Exclude>#x1702</Exclude>
+          <Exclude>#x1703</Exclude>
+        </RxPdo>
+        <RxPdo Fixed="1">
+          <Index>#x1603</Index>
+          <Name>Outputs</Name>
+          <Exclude>#x1600</Exclude>
+          <Exclude>#x1601</Exclude>
+          <Exclude>#x1602</Exclude>
+          <Exclude>#x1700</Exclude>
+          <Exclude>#x1701</Exclude>
+          <Exclude>#x1702</Exclude>
+          <Exclude>#x1703</Exclude>
+        </RxPdo>
+        <RxPdo Mandatory="1" Sm="2">
+          <Index>#x1700</Index>
+          <Name>Outputs</Name>
+          <Exclude>#x1600</Exclude>
+          <Exclude>#x1601</Exclude>
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+            <Index>#x6040</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Control word</Name>
+            <DataType>UINT</DataType>
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+          <Entry>
+            <Index>#x607a</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Target position</Name>
+            <DataType>DINT</DataType>
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+          <Entry>
+            <Index>#x6081</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Profile velocity</Name>
+            <DataType>UDINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x6083</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Profile acceleration</Name>
+            <DataType>UDINT</DataType>
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+          <Entry>
+            <Index>#x6084</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Profile deceleration</Name>
+            <DataType>UDINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x60ff</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Target velocity</Name>
+            <DataType>DINT</DataType>
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+          <Entry>
+            <Index>#x6071</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Target torque</Name>
+            <DataType>INT</DataType>
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+          <Entry>
+            <Index>#x60B8</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Touch probe function</Name>
+            <DataType>UINT</DataType>
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+          <Entry>
+            <Index>#x60fe</Index>
+            <SubIndex>1</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Digital outputs</Name>
+            <DataType>UDINT</DataType>
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+        </RxPdo>
+        <RxPdo Fixed="1">
+          <Index>#x1701</Index>
+          <Name>Outputs</Name>
+          <Exclude>#x1600</Exclude>
+          <Exclude>#x1601</Exclude>
+          <Exclude>#x1602</Exclude>
+          <Exclude>#x1603</Exclude>
+          <Exclude>#x1700</Exclude>
+          <Exclude>#x1702</Exclude>
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+            <Index>#x6040</Index>
+            <SubIndex>0</SubIndex>
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+            <Name>Control word</Name>
+            <DataType>UINT</DataType>
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+          <Entry>
+            <Index>#x2000</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Control word 1</Name>
+            <DataType>UINT</DataType>
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+          <Entry>
+            <Index>#x6060</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>8</BitLen>
+            <Name>Modes of operation</Name>
+            <DataType>SINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x0000</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>8</BitLen>
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+          <Entry>
+            <Index>#x607a</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Target position</Name>
+            <DataType>DINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x60ff</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Target velocity</Name>
+            <DataType>DINT</DataType>
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+            <Index>#x6071</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Target torque</Name>
+            <DataType>INT</DataType>
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+            <Index>#x6081</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Profile velocity</Name>
+            <DataType>UDINT</DataType>
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+            <Index>#x6083</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Profile acceleration</Name>
+            <DataType>UDINT</DataType>
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+            <Index>#x6084</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Profile deceleration</Name>
+            <DataType>UDINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x6087</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Torque slope</Name>
+            <DataType>UDINT</DataType>
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+          <Entry>
+            <Index>#x6072</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Max torque</Name>
+            <DataType>UINT</DataType>
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+          <Entry>
+            <Index>#x6099</Index>
+            <SubIndex>1</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Speed during search for switch</Name>
+            <DataType>UDINT</DataType>
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+          <Entry>
+            <Index>#x6099</Index>
+            <SubIndex>2</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Speed during search for zero</Name>
+            <DataType>UDINT</DataType>
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+          <Entry>
+            <Index>#x200d</Index>
+            <SubIndex>1</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Load inertia rasio</Name>
+            <DataType>UINT</DataType>
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+          <Entry>
+            <Index>#x60fe</Index>
+            <SubIndex>1</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Digital outputs</Name>
+            <DataType>UDINT</DataType>
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+        <RxPdo Fixed="1">
+          <Index>#x1702</Index>
+          <Name>Outputs</Name>
+          <Exclude>#x1600</Exclude>
+          <Exclude>#x1601</Exclude>
+          <Exclude>#x1602</Exclude>
+          <Exclude>#x1603</Exclude>
+          <Exclude>#x1700</Exclude>
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+            <SubIndex>0</SubIndex>
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+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
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+          <Entry>
+            <Index>#x60B8</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
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+            <BitLen>8</BitLen>
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+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Target position</Name>
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+          <Entry>
+            <Index>#x60ff</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
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+            <Index>#x6071</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Target torque</Name>
+            <DataType>INT</DataType>
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+            <Index>#x6081</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Profile velocity</Name>
+            <DataType>UDINT</DataType>
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+            <Index>#x6083</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Profile acceleration</Name>
+            <DataType>UDINT</DataType>
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+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Profile deceleration</Name>
+            <DataType>UDINT</DataType>
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+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Torque slope</Name>
+            <DataType>UDINT</DataType>
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+            <Index>#x607c</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Home offset</Name>
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+            <BitLen>32</BitLen>
+            <Name>Speed during search for switch</Name>
+            <DataType>UDINT</DataType>
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+            <SubIndex>2</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Speed during search for zero</Name>
+            <DataType>UDINT</DataType>
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+            <SubIndex>1</SubIndex>
+            <BitLen>16</BitLen>
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+            <DataType>UINT</DataType>
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+            <Index>#x2089</Index>
+            <SubIndex>2</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Orientation Posision command</Name>
+            <DataType>DINT</DataType>
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+          <Name>Outputs</Name>
+          <Exclude>#x1600</Exclude>
+          <Exclude>#x1601</Exclude>
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+          </Entry>
+          <Entry>
+            <Index>#x60b1</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Velocity offset</Name>
+            <DataType>DINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x60b2</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Torque offset</Name>
+            <DataType>INT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2005</Index>
+            <SubIndex>1</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Position loop proportional gain 1</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2006</Index>
+            <SubIndex>1</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Position loop integral time constant 1</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2008</Index>
+            <SubIndex>1</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Feed forward gain</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x200b</Index>
+            <SubIndex>1</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Verocity loop proportional gain 1</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x200c</Index>
+            <SubIndex>1</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Verocity loop integral time constant 1</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x200d</Index>
+            <SubIndex>1</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Load inertia rasio</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2011</Index>
+            <SubIndex>1</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Torque command filter 1</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x6072</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Max torque</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x60e0</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Positive torque limit</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x60e1</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Negative torque limit</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x6065</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Following error window</Name>
+            <DataType>UDINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2012</Index>
+            <SubIndex>1</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Vibration Suppressor Friquency 1</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2017</Index>
+            <SubIndex>1</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Model control Gain 1</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2019</Index>
+            <SubIndex>1</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Model Control Anti-resonance friquency 1</Name>
+            <DataType>UIN</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x201a</Index>
+            <SubIndex>1</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Model Control resonance friquency 1</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x60fe</Index>
+            <SubIndex>1</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Digital output</Name>
+            <DataType>UDINT</DataType>
+          </Entry>
+        </RxPdo>
+        <TxPdo Fixed="1">
+          <Index>#x1a00</Index>
+          <Name>Inputs</Name>
+          <Exclude>#x1a01</Exclude>
+          <Exclude>#x1a02</Exclude>
+          <Exclude>#x1a03</Exclude>
+          <Exclude>#x1b00</Exclude>
+          <Exclude>#x1b01</Exclude>
+          <Exclude>#x1b02</Exclude>
+          <Exclude>#x1b03</Exclude>
+          <Entry>
+            <Index>#x6041</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Statusword</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+        </TxPdo>
+        <TxPdo Fixed="1">
+          <Index>#x1a01</Index>
+          <Name>Inputs</Name>
+          <Exclude>#x1a00</Exclude>
+          <Exclude>#x1a02</Exclude>
+          <Exclude>#x1a03</Exclude>
+          <Exclude>#x1b00</Exclude>
+          <Exclude>#x1b01</Exclude>
+          <Exclude>#x1b02</Exclude>
+          <Exclude>#x1b03</Exclude>
+        </TxPdo>
+        <TxPdo Fixed="1">
+          <Index>#x1a02</Index>
+          <Name>Inputs</Name>
+          <Exclude>#x1a00</Exclude>
+          <Exclude>#x1a01</Exclude>
+          <Exclude>#x1a03</Exclude>
+          <Exclude>#x1b00</Exclude>
+          <Exclude>#x1b01</Exclude>
+          <Exclude>#x1b02</Exclude>
+          <Exclude>#x1b03</Exclude>
+        </TxPdo>
+        <TxPdo Fixed="1">
+          <Index>#x1a03</Index>
+          <Name>Inputs</Name>
+          <Exclude>#x1a00</Exclude>
+          <Exclude>#x1a01</Exclude>
+          <Exclude>#x1a02</Exclude>
+          <Exclude>#x1b00</Exclude>
+          <Exclude>#x1b01</Exclude>
+          <Exclude>#x1b02</Exclude>
+          <Exclude>#x1b03</Exclude>
+        </TxPdo>
+        <TxPdo Mandatory="1" Sm="3">
+          <Index>#x1b00</Index>
+          <Name>Inputs</Name>
+          <Exclude>#x1a00</Exclude>
+          <Exclude>#x1a01</Exclude>
+          <Exclude>#x1a02</Exclude>
+          <Exclude>#x1a03</Exclude>
+          <Exclude>#x1b01</Exclude>
+          <Exclude>#x1b02</Exclude>
+          <Exclude>#x1b03</Exclude>
+          <Entry>
+            <Index>#x6041</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Status word</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2100</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Status word 1</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x6064</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Position actual value</Name>
+            <DataType>DINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x606c</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Velocity actual value</Name>
+            <DataType>DINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x6077</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Torque actual value</Name>
+            <DataType>INT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x60f4</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Following error actualvalue</Name>
+            <DataType>DINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x60b9</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Touch probe status</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x60ba</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Touch probe position 1 positive value</Name>
+            <DataType>DINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x60bb</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Touch probe position 1 negative value</Name>
+            <DataType>DINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x60fd</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Digital input</Name>
+            <DataType>UDINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x1001</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>8</BitLen>
+            <Name>Error register</Name>
+            <DataType>USINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x6061</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>8</BitLen>
+            <Name>Modes of operation display</Name>
+            <DataType>SINT</DataType>
+          </Entry>
+        </TxPdo>
+        <TxPdo Fixed="1">
+          <Index>#x1b01</Index>
+          <Name>Inputs</Name>
+          <Exclude>#x1a00</Exclude>
+          <Exclude>#x1a01</Exclude>
+          <Exclude>#x1a02</Exclude>
+          <Exclude>#x1a03</Exclude>
+          <Exclude>#x1b00</Exclude>
+          <Exclude>#x1b02</Exclude>
+          <Exclude>#x1b03</Exclude>
+          <Entry>
+            <Index>#x6041</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Status word</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2100</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Status Word 1</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x6061</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>8</BitLen>
+            <Name>Modes of operation display</Name>
+            <DataType>SINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x1001</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>8</BitLen>
+            <Name>Error register</Name>
+            <DataType>USINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2103</Index>
+            <SubIndex>1</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Warning status</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x6064</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Position actual value</Name>
+            <DataType>DINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x606c</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Velocity actual value</Name>
+            <DataType>DINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x6077</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Torque actual value</Name>
+            <DataType>INT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x60f4</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Following error actualvalue</Name>
+            <DataType>DINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2101</Index>
+            <SubIndex>1</SubIndex>
+            <BitLen>8</BitLen>
+            <Name>Slave error field 1</Name>
+            <DataType>USINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2101</Index>
+            <SubIndex>2</SubIndex>
+            <BitLen>8</BitLen>
+            <Name>Slave error field 2</Name>
+            <DataType>USINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2104</Index>
+            <SubIndex>1</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Actual Kp</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2104</Index>
+            <SubIndex>2</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Actual Kpi</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2104</Index>
+            <SubIndex>3</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Actual Kvp</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2104</Index>
+            <SubIndex>4</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Actual Tvi</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2104</Index>
+            <SubIndex>5</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Actual Jrat</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2104</Index>
+            <SubIndex>6</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Actual Tcfil</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2108</Index>
+            <SubIndex>2</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Predicted motor operating</Name>
+            <DataType>INT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2109</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Internal temperature monitor</Name>
+            <DataType>INT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x210a</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Regenerative resistor operation percentage</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x60fd</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Digital input</Name>
+            <DataType>UDINT</DataType>
+          </Entry>
+        </TxPdo>
+        <TxPdo Fixed="1">
+          <Index>#x1b02</Index>
+          <Name>Inputs</Name>
+          <Exclude>#x1a00</Exclude>
+          <Exclude>#x1a01</Exclude>
+          <Exclude>#x1a02</Exclude>
+          <Exclude>#x1a03</Exclude>
+          <Exclude>#x1b00</Exclude>
+          <Exclude>#x1b01</Exclude>
+          <Exclude>#x1b03</Exclude>
+          <Entry>
+            <Index>#x6041</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Status word</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2100</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Status Word 1</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x60b9</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Touch probe status</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x6061</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>8</BitLen>
+            <Name>Modes of operation display</Name>
+            <DataType>SINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x1001</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>8</BitLen>
+            <Name>Error register</Name>
+            <DataType>USINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x6063</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Internal position actualvalue</Name>
+            <DataType>DINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x210c</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Home index position detection value</Name>
+            <DataType>DINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x6064</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Position actual value</Name>
+            <DataType>DINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x606c</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Velocity actual value</Name>
+            <DataType>DINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x6077</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Torque actual value</Name>
+            <DataType>INT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x60f4</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Following error actualvalue</Name>
+            <DataType>DINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x60ba</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Touch probe position 1 positive value</Name>
+            <DataType>DINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x60bb</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Touch probe position 1 negative value</Name>
+            <DataType>DINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x60bc</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Touch probe position 2 positive value</Name>
+            <DataType>DINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x60bd</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Touch probe position 2 negative value</Name>
+            <DataType>DINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x60fd</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Digital input</Name>
+            <DataType>UDINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2104</Index>
+            <SubIndex>1</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Actual Kp</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2104</Index>
+            <SubIndex>2</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Actual Kpi</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2104</Index>
+            <SubIndex>3</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Actual Kvp</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2104</Index>
+            <SubIndex>4</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Actual Tvi</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2104</Index>
+            <SubIndex>5</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Actual Jrat</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2104</Index>
+            <SubIndex>6</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Actual Tcfil</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2108</Index>
+            <SubIndex>2</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Predicted motor operating</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2109</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Internal temperature monitor</Name>
+            <DataType>INT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x210a</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Regenerative resistor operation percentage</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+        </TxPdo>
+        <TxPdo Fixed="1">
+          <Index>#x1b03</Index>
+          <Name>Inputs</Name>
+          <Exclude>#x1a00</Exclude>
+          <Exclude>#x1a01</Exclude>
+          <Exclude>#x1a02</Exclude>
+          <Exclude>#x1a03</Exclude>
+          <Exclude>#x1b00</Exclude>
+          <Exclude>#x1b01</Exclude>
+          <Exclude>#x1b02</Exclude>
+          <Entry>
+            <Index>#x6041</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Status word</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2100</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Status Word 1</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x6061</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>8</BitLen>
+            <Name>Modes of operation display</Name>
+            <DataType>SINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x1001</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>8</BitLen>
+            <Name>Error register</Name>
+            <DataType>USINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2103</Index>
+            <SubIndex>1</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Warning status</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x6064</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Position actual value</Name>
+            <DataType>DINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x606c</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Velocity actual value</Name>
+            <DataType>DINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x6077</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Torque actual value</Name>
+            <DataType>INT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x60f4</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Following error actualvalue</Name>
+            <DataType>DINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x6063</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Internal position actualvalue</Name>
+            <DataType>DINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x60fd</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Digital input</Name>
+            <DataType>UDINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x60fe</Index>
+            <SubIndex>1</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Digital output</Name>
+            <DataType>UDINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2101</Index>
+            <SubIndex>1</SubIndex>
+            <BitLen>8</BitLen>
+            <Name>Slave error field 1</Name>
+            <DataType>USINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2101</Index>
+            <SubIndex>2</SubIndex>
+            <BitLen>8</BitLen>
+            <Name>Slave error field 2</Name>
+            <DataType>USINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2101</Index>
+            <SubIndex>3</SubIndex>
+            <BitLen>8</BitLen>
+            <Name>Slave error field 3</Name>
+            <DataType>USINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2101</Index>
+            <SubIndex>4</SubIndex>
+            <BitLen>8</BitLen>
+            <Name>Slave error field 4</Name>
+            <DataType>USINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2104</Index>
+            <SubIndex>1</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Actual Kp</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2104</Index>
+            <SubIndex>2</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Actual Kpi</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2104</Index>
+            <SubIndex>3</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Actual Kvp</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2104</Index>
+            <SubIndex>4</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Actual Tvi</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2104</Index>
+            <SubIndex>5</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Actual Jrat</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2104</Index>
+            <SubIndex>6</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Actual Tcfil</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2104</Index>
+            <SubIndex>7</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Actual Km</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2105</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Zero phase signal base actual position value</Name>
+            <DataType>UDINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2106</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Internal velocity command monitor</Name>
+            <DataType>DINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2107</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Internal torque command monitor</Name>
+            <DataType>INT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2108</Index>
+            <SubIndex>1</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Motor operation rate</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2108</Index>
+            <SubIndex>2</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Predicted motor operating</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x2109</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Internal temperature monitor</Name>
+            <DataType>INT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x210a</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>16</BitLen>
+            <Name>Regenerative resistor operation percentage</Name>
+            <DataType>UINT</DataType>
+          </Entry>
+          <Entry>
+            <Index>#x210c</Index>
+            <SubIndex>0</SubIndex>
+            <BitLen>32</BitLen>
+            <Name>Home index position detection value</Name>
+            <DataType>DINT</DataType>
+          </Entry>
+        </TxPdo>
+        <Mailbox>
+          <CoE DS402Channels="1" CompleteAccess="false" PdoUpload="false" PdoAssign="true" PdoConfig="true" SdoInfo="true">
+            <InitCmd>
+              <Transition>PS</Transition>
+              <Index>#x6060</Index>
+              <SubIndex>0</SubIndex>
+              <Data>08</Data>
+              <Comment>Modes of operations</Comment>
+            </InitCmd>
+          </CoE>
+          <FoE></FoE>
+        </Mailbox>
+        <Dc UnknownFRMW="1">
+          <OpMode>
+            <Name>Dc Synchron</Name>
+            <Desc>Synchron with SYNC0 Event</Desc>
+            <AssignActivate>#x0300</AssignActivate>
+            <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+            <ShiftTimeSync0>0</ShiftTimeSync0>
+            <Sm No="2">
+              <SyncType>2</SyncType>
+              <CycleTime Factor="1">0</CycleTime>
+              <ShiftTime MinAfterSync="0">0</ShiftTime>
+            </Sm>
+            <Sm No="3">
+              <SyncType>2</SyncType>
+              <CycleTime Factor="1">0</CycleTime>
+              <ShiftTime MinBeforeFrame="100">0</ShiftTime>
+            </Sm>
+          </OpMode>
+          <OpMode>
+            <Name>Synchron</Name>
+            <Desc>Synchron with SM2 Event</Desc>
+            <AssignActivate>#x0000</AssignActivate>
+            <Sm No="2">
+              <SyncType>1</SyncType>
+              <CycleTime Factor="1">0</CycleTime>
+              <ShiftTime MinAfterSync="100">100</ShiftTime>
+            </Sm>
+            <Sm No="3">
+              <SyncType>34</SyncType>
+              <CycleTime Factor="1">0</CycleTime>
+              <ShiftTime MinBeforeFrame="100">0</ShiftTime>
+            </Sm>
+          </OpMode>
+        </Dc>
+        <Eeprom>
+          <ByteSize>4096</ByteSize>
+          <ConfigData>080C00CC6400</ConfigData>
+          <BootStrap>00180002001C0002</BootStrap>
+        </Eeprom>
+      </Device>
+    </Devices>
+  </Descriptions>
+</EtherCATInfo>
\ No newline at end of file
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tests/ethercat/wago_sanyo/plc.xml	Sat Jun 23 09:08:13 2018 +0200
@@ -0,0 +1,433 @@
+<?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>