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BECKHOFF/四车间/M779-10号车（已改）/BACK-C/TwinCAT/Io/EtherCAT/EL7332-0000-0016.xml

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<?xml version="1.0" encoding="ISO-8859-1"?>
<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>
</Vendor>
<Descriptions>
<Groups>
<Group SortOrder="370">
<Type>DriveAxisTerminals</Type>
<Name LcId="1031">Antriebs- und Achsklemmen (EL7xxx)</Name>
<Name LcId="1033">Drive and Axis Terminals (EL7xxx)</Name>
<ImageData16x14>424dd6020000000000003600000028000000100000000e0000000100180000000000a0020000c40e0000c40e00000000000000000000ff00ffff00ffff00ffff00ff808080808080808080808080808080808080808080808080808080808080808080808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0808080ff00ffff00ffff00ffff00ffc0c0c0c0c0c0000000000000000000000000000000000000000000c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c00000000000000000000000000000000000000000000000ffc0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0000000000000000000000000000000000000000000c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0000000c0c0c0c0c0c0000000c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0000000000000000000000000c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080007fff007fff007fff007fffc0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0c0808080</ImageData16x14>
</Group>
</Groups>
<Devices>
<Device Physics="KK">
<Type ProductCode="#x1ca43052" RevisionNo="#x100000">EL7332</Type>
<Name LcId="1033">EL7332-0000 2Ch. DC motor output stage (24V, 1.5A)</Name>
<Name LcId="1031">EL7332-0000 2K. DC-Motor-Endstufe (24V, 1.5A)</Name>
<Info>
<Electrical>
<EBusCurrent>90</EBusCurrent>
</Electrical>
<Mailbox>
<Timeout>
<RequestTimeout>100</RequestTimeout>
<ResponseTimeout>2000</ResponseTimeout>
</Timeout>
</Mailbox>
</Info>
<GroupType>DriveAxisTerminals</GroupType>
<Profile>
<ProfileNo>5001</ProfileNo>
<AddInfo>733</AddInfo>
<ChannelCount>2</ChannelCount>
<Dictionary>
<DataTypes>
<DataType>
<Name>BIT4</Name>
<BitSize>4</BitSize>
</DataType>
<DataType>
<Name>BOOL</Name>
<BitSize>1</BitSize>
</DataType>
<DataType>
<Name>BYTE</Name>
<BitSize>8</BitSize>
</DataType>
<DataType>
<Name>INT</Name>
<BitSize>16</BitSize>
</DataType>
<DataType>
<Name>SINT</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..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>DT0802EN04</Name>
<BaseType>USINT</BaseType>
<BitSize>4</BitSize>
<EnumInfo>
<Text>Direct velocity</Text>
<Enum>0</Enum>
</EnumInfo>
<EnumInfo>
<Text>Chopper resistor</Text>
<Enum>15</Enum>
</EnumInfo>
</DataType>
<DataType>
<Name>DT0803EN08</Name>
<BaseType>USINT</BaseType>
<BitSize>8</BitSize>
<EnumInfo>
<Text>Status word</Text>
<Enum>0</Enum>
</EnumInfo>
<EnumInfo>
<Text>Motor coil voltage</Text>
<Enum>1</Enum>
</EnumInfo>
<EnumInfo>
<Text>Motor coil current</Text>
<Enum>2</Enum>
</EnumInfo>
<EnumInfo>
<Text>Duty cycle</Text>
<Enum>3</Enum>
</EnumInfo>
<EnumInfo>
<Text>Control error</Text>
<Enum>5</Enum>
</EnumInfo>
<EnumInfo>
<Text>Current limit</Text>
<Enum>6</Enum>
</EnumInfo>
<EnumInfo>
<Text>Overload time</Text>
<Enum>7</Enum>
</EnumInfo>
<EnumInfo>
<Text>Actual velocity</Text>
<Enum>8</Enum>
</EnumInfo>
<EnumInfo>
<Text>Internal temperature</Text>
<Enum>101</Enum>
</EnumInfo>
<EnumInfo>
<Text>Control voltage</Text>
<Enum>103</Enum>
</EnumInfo>
<EnumInfo>
<Text>Motor supply voltage</Text>
<Enum>104</Enum>
</EnumInfo>
</DataType>
<DataType>
<Name>DT0804EN08</Name>
<BaseType>USINT</BaseType>
<BitSize>8</BitSize>
<EnumInfo>
<Text>Status word</Text>
<Enum>0</Enum>
</EnumInfo>
<EnumInfo>
<Text>Motor coil voltage</Text>
<Enum>1</Enum>
</EnumInfo>
<EnumInfo>
<Text>Motor coil current</Text>
<Enum>2</Enum>
</EnumInfo>
<EnumInfo>
<Text>Duty cycle</Text>
<Enum>3</Enum>
</EnumInfo>
<EnumInfo>
<Text>Control error</Text>
<Enum>5</Enum>
</EnumInfo>
<EnumInfo>
<Text>Current limit</Text>
<Enum>6</Enum>
</EnumInfo>
<EnumInfo>
<Text>Overload time</Text>
<Enum>7</Enum>
</EnumInfo>
<EnumInfo>
<Text>Actual velocity</Text>
<Enum>8</Enum>
</EnumInfo>
<EnumInfo>
<Text>Internal temperature</Text>
<Enum>101</Enum>
</EnumInfo>
<EnumInfo>
<Text>Control voltage</Text>
<Enum>103</Enum>
</EnumInfo>
<EnumInfo>
<Text>Motor supply voltage</Text>
<Enum>104</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>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>DT1A00</Name>
<BitSize>432</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>SubIndex 000</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
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<Access>ro</Access>
<Category>o</Category>
</Flags>
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<SubItem>
<SubIdx>1</SubIdx>
<Name>SubIndex 001</Name>
<Type>UDINT</Type>
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<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
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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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<SubIdx>3</SubIdx>
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<Type>UDINT</Type>
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<BitOffs>80</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
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<Name>SubIndex 004</Name>
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<BitOffs>112</BitOffs>
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<Access>ro</Access>
<Category>o</Category>
</Flags>
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<SubIdx>5</SubIdx>
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<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>144</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
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<SubIdx>6</SubIdx>
<Name>SubIndex 006</Name>
<Type>UDINT</Type>
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<BitOffs>176</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
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<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>
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<SubIdx>13</SubIdx>
<Name>SubIndex 013</Name>
<Type>UDINT</Type>
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<BitOffs>400</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
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<Name>SubIndex 000</Name>
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<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
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<SubIdx>1</SubIdx>
<Name>SubIndex 001</Name>
<Type>UDINT</Type>
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<BitOffs>16</BitOffs>
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<Access>ro</Access>
<Category>o</Category>
</Flags>
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<SubIdx>2</SubIdx>
<Name>SubIndex 002</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>48</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
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<Category>o</Category>
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<Category>o</Category>
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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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<SubItem>
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<Flags>
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<Category>o</Category>
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<DataType>
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<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>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>Ready to enable</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>Ready</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>Warning</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>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>5</SubIdx>
<Name>Moving positive</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>Moving negative</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>Torque reduced</Name>
<Type>BOOL</Type>
<BitSize>1</BitSize>
<BitOffs>22</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
<PdoMapping>T</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>13</SubIdx>
<Name>Digital input</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>Info data 1</Name>
<Type>UINT</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>UINT</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</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>Reset</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>Reduce torque</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>Velocity</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>216</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>SubIndex 000</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>Maximal current</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>Nominal current</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>3</SubIdx>
<Name>Nominal voltage</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>48</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<Backup>1</Backup>
<Setting>1</Setting>
</Flags>
</SubItem>
<SubItem>
<SubIdx>4</SubIdx>
<Name>Kp factor</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>64</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<Backup>1</Backup>
<Setting>1</Setting>
</Flags>
</SubItem>
<SubItem>
<SubIdx>5</SubIdx>
<Name>Ki factor</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>6</SubIdx>
<Name>Inner window</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>96</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<Backup>1</Backup>
<Setting>1</Setting>
</Flags>
</SubItem>
<SubItem>
<SubIdx>7</SubIdx>
<Name>Outer window</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>104</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<Backup>1</Backup>
<Setting>1</Setting>
</Flags>
</SubItem>
<SubItem>
<SubIdx>8</SubIdx>
<Name>Reduced current</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>10</SubIdx>
<Name>Maximal motor velocity</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>11</SubIdx>
<Name>Internal resistance of motor</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>12</SubIdx>
<Name>Time for switch-off at overload</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>
<SubItem>
<SubIdx>13</SubIdx>
<Name>Time for current lowering at overload</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>14</SubIdx>
<Name>Threshold for automatic torque reduction</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>
</DataType>
<DataType>
<Name>DT8001</Name>
<BitSize>48</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>SubIndex 000</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>Operation mode</Name>
<Type>DT0802EN04</Type>
<BitSize>4</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<Backup>1</Backup>
<Setting>1</Setting>
</Flags>
</SubItem>
<SubItem>
<SubIdx>5</SubIdx>
<Name>Torque error enable</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>Torque auto reduce</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>Inner window enable</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>8</SubIdx>
<Name>Outer window enable</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>Voltage adjustment enable</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>Current adjustment enable</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>17</SubIdx>
<Name>Select info data 1</Name>
<Type>DT0803EN08</Type>
<BitSize>8</BitSize>
<BitOffs>32</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<Backup>1</Backup>
<Setting>1</Setting>
</Flags>
</SubItem>
<SubItem>
<SubIdx>25</SubIdx>
<Name>Select info data 2</Name>
<Type>DT0804EN08</Type>
<BitSize>8</BitSize>
<BitOffs>40</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<Backup>1</Backup>
<Setting>1</Setting>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT9000</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>Status word</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>Motor coil voltage</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>32</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>3</SubIdx>
<Name>Motor coil current</Name>
<Type>INT</Type>
<BitSize>16</BitSize>
<BitOffs>48</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>4</SubIdx>
<Name>Duty cycle</Name>
<Type>SINT</Type>
<BitSize>8</BitSize>
<BitOffs>64</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>6</SubIdx>
<Name>Control error</Name>
<Type>INT</Type>
<BitSize>16</BitSize>
<BitOffs>80</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>7</SubIdx>
<Name>Current limit</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>96</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>8</SubIdx>
<Name>Overload time</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>112</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>9</SubIdx>
<Name>Actual velocity</Name>
<Type>INT</Type>
<BitSize>16</BitSize>
<BitOffs>128</BitOffs>
<Flags>
<Access>ro</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>1</SubIdx>
<Name>Saturated</Name>
<Type>BOOL</Type>
<BitSize>1</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>Over temperature</Name>
<Type>BOOL</Type>
<BitSize>1</BitSize>
<BitOffs>17</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>3</SubIdx>
<Name>Torque overload</Name>
<Type>BOOL</Type>
<BitSize>1</BitSize>
<BitOffs>18</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>4</SubIdx>
<Name>Under voltage</Name>
<Type>BOOL</Type>
<BitSize>1</BitSize>
<BitOffs>19</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>5</SubIdx>
<Name>Over voltage</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>
<SubItem>
<SubIdx>7</SubIdx>
<Name>No control power</Name>
<Type>BOOL</Type>
<BitSize>1</BitSize>
<BitOffs>22</BitOffs>
<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>8</SubIdx>
<Name>Misc error</Name>
<Type>BOOL</Type>
<BitSize>1</BitSize>
<BitOffs>23</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>DTF80F</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>PWM Frequency</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>Deadtime</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>32</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>3</SubIdx>
<Name>Deadtime space</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>48</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>4</SubIdx>
<Name>Warning temperature</Name>
<Type>SINT</Type>
<BitSize>8</BitSize>
<BitOffs>64</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>5</SubIdx>
<Name>Switch off temperature</Name>
<Type>SINT</Type>
<BitSize>8</BitSize>
<BitOffs>72</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>6</SubIdx>
<Name>Analog trigger point</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>80</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
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<SubItem>
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<SubItem>
<Name>Enable</Name>
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<SubItem>
<Name>Reset</Name>
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<DefaultData>00</DefaultData>
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<SubItem>
<Name>Reduce torque</Name>
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<Name>Velocity</Name>
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<Name>Reset</Name>
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<Name>Reduce torque</Name>
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<Index>#x8000</Index>
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<Name>Maximal current</Name>
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<MinValue>#x0</MinValue>
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<Name>Nominal current</Name>
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<Name>Nominal voltage</Name>
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<Name>Inner window</Name>
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<Name>Voltage adjustment enable</Name>
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<Name>Current adjustment enable</Name>
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<Name>Select info data 1</Name>
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<Name>Nominal current</Name>
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<MinValue>#x0</MinValue>
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<Name>Nominal voltage</Name>
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<Index>#x8011</Index>
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<SubItem>
<Name>SubIndex 000</Name>
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<DefaultData>01</DefaultData>
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<Name>Select info data 1</Name>
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<DefaultData>01</DefaultData>
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<Name>Select info data 2</Name>
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<DefaultData>02</DefaultData>
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<Access>rw</Access>
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<Index>#x9000</Index>
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<Name>SubIndex 000</Name>
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<Name>Status word</Name>
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<Name>Motor coil current</Name>
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<Name>Duty cycle</Name>
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<Name>Control error</Name>
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<Name>Overload time</Name>
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<Index>#xa000</Index>
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<SubItem>
<Name>SubIndex 000</Name>
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<Name>Saturated</Name>
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<Name>Over temperature</Name>
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<DefaultData>00</DefaultData>
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<Name>Torque overload</Name>
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<Name>No control power</Name>
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<Index>#xa010</Index>
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<Name>SubIndex 000</Name>
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<Name>Over temperature</Name>
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<SubItem>
<Name>Torque overload</Name>
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<Name>Over voltage</Name>
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<DefaultData>00</DefaultData>
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<Name>Misc error</Name>
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<Index>#xf000</Index>
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<Name>SubIndex 000</Name>
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<DefaultData>02</DefaultData>
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<SubItem>
<Name>Module index distance</Name>
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<SubItem>
<Name>Maximum number of modules</Name>
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</Info>
</SubItem>
</Info>
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<Access>ro</Access>
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<Object>
<Index>#xf008</Index>
<Name>Code word</Name>
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<DefaultData>00000000</DefaultData>
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<Access>rw</Access>
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<Index>#xf010</Index>
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<Name>SubIndex 000</Name>
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<Object>
<Index>#xf80f</Index>
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<Name>SubIndex 000</Name>
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<SubItem>
<Name>Deadtime space</Name>
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<SubItem>
<Name>Warning temperature</Name>
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<SubItem>
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<SubItem>
<Name>Analog trigger point</Name>
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</SubItem>
</Info>
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<Access>rw</Access>
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<Object>
<Index>#xf900</Index>
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<Name>SubIndex 000</Name>
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<SubItem>
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<SubItem>
<Name>Cycle time</Name>
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<Access>ro</Access>
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<Object>
<Index>#xfb00</Index>
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<SubItem>
<Name>SubIndex 000</Name>
<Info>
<DefaultData>03</DefaultData>
</Info>
</SubItem>
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<Flags>
<Access>ro</Access>
<Category>o</Category>
</Flags>
</Object>
</Objects>
</Dictionary>
</Profile>
<Fmmu>Outputs</Fmmu>
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<Fmmu>MBoxState</Fmmu>
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<Entry>
<Index>#x7000</Index>
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<Entry>
<Index>#x0</Index>
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<Entry>
<Index>#x7000</Index>
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<BitLen>16</BitLen>
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<Name>DCM Control Channel 2</Name>
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<Index>#x7010</Index>
<SubIndex>1</SubIndex>
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<Name>Enable</Name>
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<Entry>
<Index>#x7010</Index>
<SubIndex>2</SubIndex>
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<Name>Reset</Name>
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<Entry>
<Index>#x7010</Index>
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<Entry>
<Index>#x0</Index>
<BitLen>13</BitLen>
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<Entry>
<Index>#x7010</Index>
<SubIndex>17</SubIndex>
<BitLen>16</BitLen>
<Name>Velocity</Name>
<DataType>INT</DataType>
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</RxPdo>
<TxPdo Fixed="1" Sm="3">
<Index>#x1a00</Index>
<Name>DCM Status Channel 1</Name>
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<Index>#x6000</Index>
<SubIndex>1</SubIndex>
<BitLen>1</BitLen>
<Name>Ready to enable</Name>
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<Entry>
<Index>#x6000</Index>
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<Name>Ready</Name>
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</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>3</SubIndex>
<BitLen>1</BitLen>
<Name>Warning</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>4</SubIndex>
<BitLen>1</BitLen>
<Name>Error</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>5</SubIndex>
<BitLen>1</BitLen>
<Name>Moving positive</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>6</SubIndex>
<BitLen>1</BitLen>
<Name>Moving negative</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>7</SubIndex>
<BitLen>1</BitLen>
<Name>Torque reduced</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x0</Index>
<BitLen>1</BitLen>
</Entry>
<Entry>
<Index>#x0</Index>
<BitLen>4</BitLen>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>13</SubIndex>
<BitLen>1</BitLen>
<Name>Digital input</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>#x1800</Index>
<SubIndex>9</SubIndex>
<BitLen>1</BitLen>
<Name>TxPDO Toggle</Name>
<DataType>BOOL</DataType>
</Entry>
</TxPdo>
<TxPdo Fixed="1">
<Index>#x1a01</Index>
<Name>DCM Synchron info data Channel 1</Name>
<Entry>
<Index>#x6000</Index>
<SubIndex>17</SubIndex>
<BitLen>16</BitLen>
<Name>Info Data 1</Name>
<DataType>UINT</DataType>
</Entry>
<Entry>
<Index>#x6000</Index>
<SubIndex>18</SubIndex>
<BitLen>16</BitLen>
<Name>Info Data 2</Name>
<DataType>UINT</DataType>
</Entry>
</TxPdo>
<TxPdo Fixed="1" Sm="3">
<Index>#x1a02</Index>
<Name>DCM Status Channel 2</Name>
<Entry>
<Index>#x6010</Index>
<SubIndex>1</SubIndex>
<BitLen>1</BitLen>
<Name>Ready to enable</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x6010</Index>
<SubIndex>2</SubIndex>
<BitLen>1</BitLen>
<Name>Ready</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x6010</Index>
<SubIndex>3</SubIndex>
<BitLen>1</BitLen>
<Name>Warning</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x6010</Index>
<SubIndex>4</SubIndex>
<BitLen>1</BitLen>
<Name>Error</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x6010</Index>
<SubIndex>5</SubIndex>
<BitLen>1</BitLen>
<Name>Moving positive</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x6010</Index>
<SubIndex>6</SubIndex>
<BitLen>1</BitLen>
<Name>Moving negative</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x6010</Index>
<SubIndex>7</SubIndex>
<BitLen>1</BitLen>
<Name>Torque reduced</Name>
<DataType>BOOL</DataType>
</Entry>
<Entry>
<Index>#x0</Index>
<BitLen>1</BitLen>
</Entry>
<Entry>
<Index>#x0</Index>
<BitLen>4</BitLen>
</Entry>
<Entry>
<Index>#x6010</Index>
<SubIndex>13</SubIndex>
<BitLen>1</BitLen>
<Name>Digital input</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>#x1802</Index>
<SubIndex>9</SubIndex>
<BitLen>1</BitLen>
<Name>TxPDO Toggle</Name>
<DataType>BOOL</DataType>
</Entry>
</TxPdo>
<TxPdo Fixed="1">
<Index>#x1a03</Index>
<Name>DCM Synchron info data Channel 2</Name>
<Entry>
<Index>#x6010</Index>
<SubIndex>17</SubIndex>
<BitLen>16</BitLen>
<Name>Info Data 1</Name>
<DataType>UINT</DataType>
</Entry>
<Entry>
<Index>#x6010</Index>
<SubIndex>18</SubIndex>
<BitLen>16</BitLen>
<Name>Info Data 2</Name>
<DataType>UINT</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>0500030c00000000000000000000</ConfigData>
<BootStrap>0010f400f410f400</BootStrap>
</Eeprom>
</Device>
</Devices>
</Descriptions>
</EtherCATInfo>
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