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BECKHOFF/四车间/M779-10号车（已改）/BACK-C/TwinCAT/Io/EtherCAT/Beckhoff AX2xxx.xml

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<?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="520">
<Type>Drive</Type>
<Name LcId="1033">Drives</Name>
<Image16x14>DRIVE</Image16x14>
</Group>
</Groups>
<Devices>
<Device Physics="YY">
<Type TcCfgModeSafeOp="1" ProductCode="#x07d06014" RevisionNo="#x00001b82">AX2000-B110</Type>
<HideType ProductRevision="EL2000-0000-9992"/>
<HideType ProductRevision="AX2000-B110-9995"/>
<HideType ProductRevision="AX2000-B110-9997"/>
<HideType ProductRevision="AX2000-B120-9995"/>
<Name LcId="1033"><![CDATA[AX2000-B110 EtherCAT Drive (CoE)]]></Name>
<URL LcId="1033">http://www.beckhoff.com/english/drive_technology/ax20xx.htm</URL>
<URL LcId="1031">http://www.beckhoff.com/german/drive_technology/ax20xx.htm</URL>
<Info>
<StateMachine>
<Behavior StartToSafeopNoSync="true"/>
</StateMachine>
</Info>
<GroupType>Drive</GroupType>
<Profile>
<ProfileNo>402</ProfileNo>
<Dictionary>
<DataTypes>
<DataType>
<Name>DINT</Name>
<BitSize>32</BitSize>
</DataType>
<DataType>
<Name>INT</Name>
<BitSize>16</BitSize>
</DataType>
<DataType>
<Name>INT24</Name>
<BitSize>24</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>STRING(0)</Name>
<BitSize>0</BitSize>
</DataType>
<DataType>
<Name>DT1003ARR</Name>
<BaseType>UDINT</BaseType>
<BitSize>32</BitSize>
<ArrayInfo>
<LBound>1</LBound>
<Elements>1</Elements>
</ArrayInfo>
</DataType>
<DataType>
<Name>DT1003</Name>
<BitSize>48</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Number of Errors</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
</SubItem>
<SubItem>
<Name>Elements</Name>
<Type>DT1003ARR</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1004ARR</Name>
<BaseType>UDINT</BaseType>
<BitSize>64</BitSize>
<ArrayInfo>
<LBound>1</LBound>
<Elements>2</Elements>
</ArrayInfo>
</DataType>
<DataType>
<Name>DT1004</Name>
<BitSize>80</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Number of RxPDOs/TxPDOs</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>0</BitOffs>
</SubItem>
<SubItem>
<Name>Elements</Name>
<Type>DT1004ARR</Type>
<BitSize>64</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1018ARR</Name>
<BaseType>UDINT</BaseType>
<BitSize>128</BitSize>
<ArrayInfo>
<LBound>1</LBound>
<Elements>4</Elements>
</ArrayInfo>
</DataType>
<DataType>
<Name>DT1018</Name>
<BitSize>144</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Number of Entries</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
</SubItem>
<SubItem>
<Name>Elements</Name>
<Type>DT1018ARR</Type>
<BitSize>128</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1400</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>COB-ID used by PDO1 RX</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>Transmission Type</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>48</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>3</SubIdx>
<Name>Inhibit time</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>56</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>4</SubIdx>
<Name>CMS priority group</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>72</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1401</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>COB-ID for PDO2 RX</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>Transmission Type</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>48</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>3</SubIdx>
<Name>Inhibit time</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>56</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>4</SubIdx>
<Name>CMS priority group</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>72</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1402</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>COB-ID for PDO3 RX</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>Transmission Type</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>48</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>3</SubIdx>
<Name>Inhibit time</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>56</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>4</SubIdx>
<Name>CMS priority group</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>72</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1600</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>Controlword</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1601</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>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>ASCII-channel receive Byte 0</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>ASCII-channel receive Byte 1</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>48</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>3</SubIdx>
<Name>ASCII-channel receive Byte 2</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>80</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>4</SubIdx>
<Name>ASCII-channel receive Byte 3</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>112</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>5</SubIdx>
<Name>ASCII-channel receive Byte 4</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>144</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>6</SubIdx>
<Name>ASCII-channel receive Byte 5</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>176</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>7</SubIdx>
<Name>ASCII-channel receive Byte 6</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>208</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>8</SubIdx>
<Name>ASCII-channel receive Byte 7</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>240</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1602</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>Controlword</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>Digital Speed or Current Offset</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>48</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1800</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>COB-ID for PDO1 TX</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>Transmission Type</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>48</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>3</SubIdx>
<Name>Inhibit Time</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>56</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>4</SubIdx>
<Name>CMS priority group</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>72</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1801</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>COB-Identifier for PDO2 TX</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>Transmission Type</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>48</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>3</SubIdx>
<Name>Inhibit Time</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>56</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>4</SubIdx>
<Name>CMS priority group</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>72</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1802</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>COB-Identifier for PDO3 TX</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>Transmission Type</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>48</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>3</SubIdx>
<Name>Inhibit Time</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>56</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>4</SubIdx>
<Name>CMS priority group</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>72</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1A00</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>statusword</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1A01</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>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>ASCII-channel transmit Byte 0</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>ASCII-channel transmit Byte 1</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>48</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>3</SubIdx>
<Name>ASCII-channel transmit Byte 2</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>80</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>4</SubIdx>
<Name>ASCII-channel transmit Byte 3</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>112</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>5</SubIdx>
<Name>ASCII-channel transmit Byte 4</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>144</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>6</SubIdx>
<Name>ASCII-channel transmit Byte 5</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>176</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>7</SubIdx>
<Name>ASCII-channel transmit Byte 6</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>208</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>8</SubIdx>
<Name>ASCII-channel transmit Byte 7</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>240</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1A02</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>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>statusword</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>Actual angular Position within 16 turns</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>48</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>3</SubIdx>
<Name>Revolutions per Minute</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>80</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1C12ARR</Name>
<BaseType>UINT</BaseType>
<BitSize>16</BitSize>
<ArrayInfo>
<LBound>1</LBound>
<Elements>1</Elements>
</ArrayInfo>
</DataType>
<DataType>
<Name>DT1C12</Name>
<BitSize>32</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>number of PDOs</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
</SubItem>
<SubItem>
<Name>Elements</Name>
<Type>DT1C12ARR</Type>
<BitSize>16</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT1C13ARR</Name>
<BaseType>UINT</BaseType>
<BitSize>16</BitSize>
<ArrayInfo>
<LBound>1</LBound>
<Elements>1</Elements>
</ArrayInfo>
</DataType>
<DataType>
<Name>DT1C13</Name>
<BitSize>32</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>number of PDOs</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
</SubItem>
<SubItem>
<Name>Elements</Name>
<Type>DT1C13ARR</Type>
<BitSize>16</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT2014ARR</Name>
<BaseType>UDINT</BaseType>
<BitSize>64</BitSize>
<ArrayInfo>
<LBound>1</LBound>
<Elements>2</Elements>
</ArrayInfo>
</DataType>
<DataType>
<Name>DT2014</Name>
<BitSize>80</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Number of entries</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
</SubItem>
<SubItem>
<Name>Elements</Name>
<Type>DT2014ARR</Type>
<BitSize>64</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT2015ARR</Name>
<BaseType>UDINT</BaseType>
<BitSize>64</BitSize>
<ArrayInfo>
<LBound>1</LBound>
<Elements>2</Elements>
</ArrayInfo>
</DataType>
<DataType>
<Name>DT2015</Name>
<BitSize>80</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Number of entries</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
</SubItem>
<SubItem>
<Name>Elements</Name>
<Type>DT2015ARR</Type>
<BitSize>64</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT2016ARR</Name>
<BaseType>UDINT</BaseType>
<BitSize>64</BitSize>
<ArrayInfo>
<LBound>1</LBound>
<Elements>2</Elements>
</ArrayInfo>
</DataType>
<DataType>
<Name>DT2016</Name>
<BitSize>80</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Number of entries</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
</SubItem>
<SubItem>
<Name>Elements</Name>
<Type>DT2016ARR</Type>
<BitSize>64</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT2020</Name>
<BitSize>288</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>Axis Type</Name>
<Type>SINT</Type>
<BitSize>8</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>In-Position Window</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>24</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>3</SubIdx>
<Name>Contouring Error Window</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>56</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>4</SubIdx>
<Name>Position Register 1</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>88</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>5</SubIdx>
<Name>Position Register 2</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>120</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>6</SubIdx>
<Name>Position Register 3</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>152</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>7</SubIdx>
<Name>Position Register 4</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>184</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>8</SubIdx>
<Name>Denominator Resolution</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>216</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>9</SubIdx>
<Name>Nominator Resolution</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>248</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>10</SubIdx>
<Name>Count Direction</Name>
<Type>SINT</Type>
<BitSize>8</BitSize>
<BitOffs>280</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT2022</Name>
<BitSize>320</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>Position</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>Speed</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>48</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>3</SubIdx>
<Name>Motion Task Type</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>64</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>4</SubIdx>
<Name>Trajectory</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>80</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>5</SubIdx>
<Name>Motion Task Number</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>112</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>6</SubIdx>
<Name>Acceleration Time</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>128</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>7</SubIdx>
<Name>Braking Time</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>144</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>8</SubIdx>
<Name>Rate of Change-limiting Acceleration</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>160</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>9</SubIdx>
<Name>Rate of Change-limiting Deceleration</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<BitOffs>176</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>10</SubIdx>
<Name>Number of the following motion task</Name>
<Type>INT</Type>
<BitSize>16</BitSize>
<BitOffs>192</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>11</SubIdx>
<Name>Start Delay for following Task</Name>
<Type>INT</Type>
<BitSize>16</BitSize>
<BitOffs>208</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>12</SubIdx>
<Name>Copy a Motion Task</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>224</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>13</SubIdx>
<Name>Weighting Factor Speed for PDO Motion Block</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>256</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>14</SubIdx>
<Name>Speed for direct Motion Task</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>288</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT2024</Name>
<BitSize>160</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>Homing Type</Name>
<Type>SINT</Type>
<BitSize>8</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>Homing Direction</Name>
<Type>SINT</Type>
<BitSize>8</BitSize>
<BitOffs>24</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>3</SubIdx>
<Name>Homing Speed</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>32</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>4</SubIdx>
<Name>Acceleration Ramp Jogging and Homing1</Name>
<Type>INT</Type>
<BitSize>16</BitSize>
<BitOffs>64</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>5</SubIdx>
<Name>Acceleration Ramp Jogging and Homing2</Name>
<Type>INT</Type>
<BitSize>16</BitSize>
<BitOffs>80</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>6</SubIdx>
<Name>Homing Offset</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>96</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>7</SubIdx>
<Name>Jogging Speed</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>128</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT2026</Name>
<BitSize>24</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>Freigabe Latchfunktion</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT2050</Name>
<BitSize>144</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Number of entries</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>Hilfsvariable digitaler Eingang 1</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>Hilfsvariable digitaler Eingang 2</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>48</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>3</SubIdx>
<Name>Hilfsvariable digitaler Eingang 3</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>80</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>4</SubIdx>
<Name>Hilfsvariable digitaler Eingang 4</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>112</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT2051ARR</Name>
<BaseType>UINT</BaseType>
<BitSize>48</BitSize>
<ArrayInfo>
<LBound>1</LBound>
<Elements>3</Elements>
</ArrayInfo>
</DataType>
<DataType>
<Name>DT2051</Name>
<BitSize>64</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Number of entries</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
</SubItem>
<SubItem>
<Name>Elements</Name>
<Type>DT2051ARR</Type>
<BitSize>48</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT2052ARR</Name>
<BaseType>DINT</BaseType>
<BitSize>512</BitSize>
<ArrayInfo>
<LBound>1</LBound>
<Elements>16</Elements>
</ArrayInfo>
</DataType>
<DataType>
<Name>DT2052</Name>
<BitSize>528</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Number of entries</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
</SubItem>
<SubItem>
<Name>Elements</Name>
<Type>DT2052ARR</Type>
<BitSize>512</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT2053ARR</Name>
<BaseType>DINT</BaseType>
<BitSize>512</BitSize>
<ArrayInfo>
<LBound>1</LBound>
<Elements>16</Elements>
</ArrayInfo>
</DataType>
<DataType>
<Name>DT2053</Name>
<BitSize>528</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Number of entries</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
</SubItem>
<SubItem>
<Name>Elements</Name>
<Type>DT2053ARR</Type>
<BitSize>512</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT2070</Name>
<BitSize>656</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 angular Position within 16 turns</Name>
<Type>INT24</Type>
<BitSize>24</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>Revolutions per Minute</Name>
<Type>INT24</Type>
<BitSize>24</BitSize>
<BitOffs>40</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>3</SubIdx>
<Name>Incremental Position Value</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>64</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>4</SubIdx>
<Name>Position Latch Value 16 bits</Name>
<Type>INT</Type>
<BitSize>16</BitSize>
<BitOffs>96</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>5</SubIdx>
<Name>Position Latch Value 32 bits</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>112</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>6</SubIdx>
<Name>Actual Position (SI)</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>144</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>7</SubIdx>
<Name>Actual Speed (SI)</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>176</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>8</SubIdx>
<Name>Actual contouring Error</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>208</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>9</SubIdx>
<Name>Actual Current</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>240</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>10</SubIdx>
<Name>Actual Velocity (rpm)</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>272</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>11</SubIdx>
<Name>Actual Heat Sink Temperature</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>304</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>12</SubIdx>
<Name>Actual Internal Temperature</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>336</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>13</SubIdx>
<Name>DC-Link Voltage</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>368</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>14</SubIdx>
<Name>Actual Regen Power</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>400</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>15</SubIdx>
<Name>I2t-Loading</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>432</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>16</SubIdx>
<Name>Operational Time</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>464</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>17</SubIdx>
<Name>Extended Status for TX-PDO 33</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>496</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>18</SubIdx>
<Name>External feedback actual position (PFB0)</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>528</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>19</SubIdx>
<Name>Internal position setpoint</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>560</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>20</SubIdx>
<Name>Voltage analogue input 1</Name>
<Type>INT</Type>
<BitSize>16</BitSize>
<BitOffs>592</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>21</SubIdx>
<Name>Voltage analogue input 2</Name>
<Type>INT</Type>
<BitSize>16</BitSize>
<BitOffs>608</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>22</SubIdx>
<Name>ERRCODE</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>624</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT2080ARR</Name>
<BaseType>USINT</BaseType>
<BitSize>80</BitSize>
<ArrayInfo>
<LBound>1</LBound>
<Elements>10</Elements>
</ArrayInfo>
</DataType>
<DataType>
<Name>DT2080</Name>
<BitSize>96</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>largest sub-index supported</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
</SubItem>
<SubItem>
<Name>Elements</Name>
<Type>DT2080ARR</Type>
<BitSize>80</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT2081</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>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>1</SubIdx>
<Name>Inkrementelle Istposition, LSB, Byte 0</Name>
<Type>SINT</Type>
<BitSize>8</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>Inkrementelle Istposition, Byte 1</Name>
<Type>SINT</Type>
<BitSize>8</BitSize>
<BitOffs>24</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>3</SubIdx>
<Name>Inkrementelle Istposition, Byte 2</Name>
<Type>SINT</Type>
<BitSize>8</BitSize>
<BitOffs>32</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>4</SubIdx>
<Name>Inkrementelle Istposition, MSB, Byte 3</Name>
<Type>SINT</Type>
<BitSize>8</BitSize>
<BitOffs>40</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>5</SubIdx>
<Name>Inkrementelle Istposition, Byte 0 - 2</Name>
<Type>INT24</Type>
<BitSize>24</BitSize>
<BitOffs>48</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>6</SubIdx>
<Name>Inkrementelle Istposition, Byte 0 - 3</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>72</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT2082</Name>
<BitSize>72</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>Latch 32 Bit positiv</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>Latch 24 Bit positiv</Name>
<Type>INT24</Type>
<BitSize>24</BitSize>
<BitOffs>48</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT2083</Name>
<BitSize>72</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>Latch 32 Bit negativ</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>Latch 24 Bit negativ</Name>
<Type>INT24</Type>
<BitSize>24</BitSize>
<BitOffs>48</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT2084</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>Latch 16 Bit positiv</Name>
<Type>INT</Type>
<BitSize>16</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT2085</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>Latch 16 Bit negativ</Name>
<Type>INT</Type>
<BitSize>16</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT3500</Name>
<BitSize>152</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>Read/Write MAXSDO</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>Low limit MAXSDO</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>24</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>3</SubIdx>
<Name>High Limit MAXSDO</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>56</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>4</SubIdx>
<Name>Default value MAXSDO</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>88</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>5</SubIdx>
<Name>Parameter format MAXSDO</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>120</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>6</SubIdx>
<Name>Parameter control data MAXSDO</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>128</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>7</SubIdx>
<Name>reserved1</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>136</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>8</SubIdx>
<Name>reserved2</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>144</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT3501</Name>
<BitSize>200</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>Read/Write</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>2</SubIdx>
<Name>Low limit</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>48</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>3</SubIdx>
<Name>High Limit</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>80</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>4</SubIdx>
<Name>Default value</Name>
<Type>DINT</Type>
<BitSize>32</BitSize>
<BitOffs>112</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>5</SubIdx>
<Name>Parameter format</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>144</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>6</SubIdx>
<Name>Parameter control data</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>152</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>7</SubIdx>
<Name>reserved1</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>184</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
<SubItem>
<SubIdx>8</SubIdx>
<Name>reserved2</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>192</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT607BARR</Name>
<BaseType>DINT</BaseType>
<BitSize>64</BitSize>
<ArrayInfo>
<LBound>1</LBound>
<Elements>2</Elements>
</ArrayInfo>
</DataType>
<DataType>
<Name>DT607B</Name>
<BitSize>80</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Number of entries</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
</SubItem>
<SubItem>
<Name>Elements</Name>
<Type>DT607BARR</Type>
<BitSize>64</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT6093ARR</Name>
<BaseType>UDINT</BaseType>
<BitSize>64</BitSize>
<ArrayInfo>
<LBound>1</LBound>
<Elements>2</Elements>
</ArrayInfo>
</DataType>
<DataType>
<Name>DT6093</Name>
<BitSize>80</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Number of entries</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
</SubItem>
<SubItem>
<Name>Elements</Name>
<Type>DT6093ARR</Type>
<BitSize>64</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT6094ARR</Name>
<BaseType>UDINT</BaseType>
<BitSize>64</BitSize>
<ArrayInfo>
<LBound>1</LBound>
<Elements>2</Elements>
</ArrayInfo>
</DataType>
<DataType>
<Name>DT6094</Name>
<BitSize>80</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Number of entries</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
</SubItem>
<SubItem>
<Name>Elements</Name>
<Type>DT6094ARR</Type>
<BitSize>64</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT6097ARR</Name>
<BaseType>UDINT</BaseType>
<BitSize>64</BitSize>
<ArrayInfo>
<LBound>1</LBound>
<Elements>2</Elements>
</ArrayInfo>
</DataType>
<DataType>
<Name>DT6097</Name>
<BitSize>80</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Number of entries</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
</SubItem>
<SubItem>
<Name>Elements</Name>
<Type>DT6097ARR</Type>
<BitSize>64</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</SubItem>
</DataType>
<DataType>
<Name>DT6099ARR</Name>
<BaseType>UDINT</BaseType>
<BitSize>64</BitSize>
<ArrayInfo>
<LBound>1</LBound>
<Elements>2</Elements>
</ArrayInfo>
</DataType>
<DataType>
<Name>DT6099</Name>
<BitSize>80</BitSize>
<SubItem>
<SubIdx>0</SubIdx>
<Name>Number of entries</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<BitOffs>0</BitOffs>
</SubItem>
<SubItem>
<Name>Elements</Name>
<Type>DT6099ARR</Type>
<BitSize>64</BitSize>
<BitOffs>16</BitOffs>
<Flags>
<Access>rw</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>rw</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>rw</Access>
<Category>m</Category>
</Flags>
</Object>
<Object>
<Index>#x1002</Index>
<Name>Manufacturer Status Register</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Flags>
<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
</Flags>
</Object>
<Object>
<Index>#x1003</Index>
<Name>Pre-defined Error Field</Name>
<Type>DT1003</Type>
<BitSize>48</BitSize>
<Info>
<SubItem>
<Name>Number of Errors</Name>
<Info>
<DefaultData>00</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SubIndex 001</Name>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
</SubItem>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x1004</Index>
<Name>Number of PDOs supported</Name>
<Type>DT1004</Type>
<BitSize>80</BitSize>
<Info>
<SubItem>
<Name>Number of RxPDOs/TxPDOs</Name>
<Info>
<DefaultData>03000300</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SubIndex 001</Name>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
</SubItem>
<SubItem>
<Name>SubIndex 002</Name>
<Info>
<DefaultData>03000300</DefaultData>
</Info>
</SubItem>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x1005</Index>
<Name>COB-ID SYNC-Message</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>80000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x1006</Index>
<Name>Communication Cycle Period</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x1007</Index>
<Name>Synchronous Window Length</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x1008</Index>
<Name>Manufacturer Device Name</Name>
<Type>STRING(0)</Type>
<BitSize>0</BitSize>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x100a</Index>
<Name>Manufacturer Software Version</Name>
<Type>STRING(0)</Type>
<BitSize>0</BitSize>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x100b</Index>
<Name>Node-ID</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x100c</Index>
<Name>Guard Time</Name>
<Type>UINT</Type>
<BitSize>16</BitSize>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x100d</Index>
<Name>Life Time Factor</Name>
<Type>USINT</Type>
<BitSize>8</BitSize>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x100e</Index>
<Name>Nodeguarding identifier</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x100f</Index>
<Name>Number of SDOs supported</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>01000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x1012</Index>
<Name>COB-ID Time</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00010000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x1013</Index>
<Name>High Resolution Time Stamp</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Info>
<DefaultData>00000000</DefaultData>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x1014</Index>
<Name>COB - ID Emergency</Name>
<Type>UDINT</Type>
<BitSize>32</BitSize>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x1018</Index>
<Name>Identity Object</Name>
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<SubItem>
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<Info>
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<Object>
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<SubItem>
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<Index>#x1a00</Index>
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<SubItem>
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<Name>ASCII-channel transmit Byte 6</Name>
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<Name>ASCII-channel transmit Byte 7</Name>
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<SubItem>
<Name>Actual angular Position within 16 turns</Name>
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<SubItem>
<Name>Revolutions per Minute</Name>
<Info>
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<Index>#x1c12</Index>
<Name>Sync Manager 2 Communication Type</Name>
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<SubItem>
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<SubItem>
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<Index>#x2000</Index>
<Name>Stromregler</Name>
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<Object>
<Index>#x2014</Index>
<Name>Maske für erstes Transmit - PDO</Name>
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<Name>Number of entries</Name>
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<Object>
<Index>#x2015</Index>
<Name>Maske für zweites Transmit - PDO</Name>
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<SubItem>
<Name>Number of entries</Name>
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<Object>
<Index>#x2016</Index>
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<Object>
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<Index>#x2022</Index>
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<SubItem>
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<Object>
<Index>#x2024</Index>
<Name>Parameters for Jogging/Homing</Name>
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<Index>#x2026</Index>
<Name>Freigabe der Latchfunktion für CAN</Name>
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<Object>
<Index>#x2040</Index>
<Name>Motorparameter</Name>
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<Object>
<Index>#x2050</Index>
<Name>Hilfsvariablen der digitalen Eingänge</Name>
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<Object>
<Index>#x2051</Index>
<Name>Konfiguration für Schwellenregister</Name>
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<Object>
<Index>#x2052</Index>
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<Name>Number of entries</Name>
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<Index>#x2053</Index>
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<SubItem>
<Name>Number of entries</Name>
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<Index>#x2070</Index>
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<Index>#x2080</Index>
<Name>Statusinformationen</Name>
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<Index>#x2082</Index>
<Name>Latch 32/24 Bit positiv</Name>
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<Object>
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<Index>#x2090</Index>
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<Index>#x2721</Index>
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<Index>#x3100</Index>
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<Name>largest sub-index supported</Name>
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<Name>Low limit MAXSDO</Name>
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<SubItem>
<Name>High Limit MAXSDO</Name>
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<SubItem>
<Name>Parameter format MAXSDO</Name>
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<Index>#x36e4</Index>
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<Index>#x6063</Index>
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<Index>#x6064</Index>
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<Index>#x607a</Index>
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<Access>rw</Access>
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<Index>#x607b</Index>
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<SubItem>
<Name>Number of entries</Name>
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<DefaultData>02</DefaultData>
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<DefaultData>00000080</DefaultData>
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<Name>SubIndex 002</Name>
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<DefaultData>ffffff7f</DefaultData>
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</SubItem>
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<Access>rw</Access>
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<Index>#x607c</Index>
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<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
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<Index>#x6081</Index>
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<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
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<Index>#x6083</Index>
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<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
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<Index>#x6084</Index>
<Name>Profile_deceleration</Name>
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<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
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<Index>#x6086</Index>
<Name>Motion_profile_type</Name>
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<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
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<Object>
<Index>#x6089</Index>
<Name>Position notation index</Name>
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<Access>rw</Access>
<Category>o</Category>
</Flags>
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<Object>
<Index>#x608a</Index>
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<Access>rw</Access>
<Category>o</Category>
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<Object>
<Index>#x608b</Index>
<Name>Velocity notation index</Name>
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<Access>rw</Access>
<Category>o</Category>
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<Object>
<Index>#x608c</Index>
<Name>Velocity dimension index</Name>
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<Access>rw</Access>
<Category>o</Category>
</Flags>
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<Object>
<Index>#x608d</Index>
<Name>acceleration notation index</Name>
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<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
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<Object>
<Index>#x608e</Index>
<Name>Acceleration dimension index</Name>
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<Access>rw</Access>
<Category>o</Category>
</Flags>
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<Object>
<Index>#x6093</Index>
<Name>Position Factor</Name>
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<BitSize>80</BitSize>
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<SubItem>
<Name>Number of entries</Name>
<Info>
<DefaultData>02</DefaultData>
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</SubItem>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
<Object>
<Index>#x6094</Index>
<Name>Velocity encoder factor</Name>
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<BitSize>80</BitSize>
<Info>
<SubItem>
<Name>Number of entries</Name>
<Info>
<DefaultData>02</DefaultData>
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</SubItem>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
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<Object>
<Index>#x6097</Index>
<Name>Acceleration Factor</Name>
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<BitSize>80</BitSize>
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<SubItem>
<Name>Number of entries</Name>
<Info>
<DefaultData>02</DefaultData>
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</SubItem>
</Info>
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<Access>rw</Access>
<Category>o</Category>
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<Object>
<Index>#x6098</Index>
<Name>Homing method</Name>
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<Access>rw</Access>
<Category>o</Category>
<PdoMapping>RT</PdoMapping>
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<Object>
<Index>#x6099</Index>
<Name>Homing speeds</Name>
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<BitSize>80</BitSize>
<Info>
<SubItem>
<Name>Number of entries</Name>
<Info>
<DefaultData>02</DefaultData>
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</SubItem>
</Info>
<Flags>
<Access>rw</Access>
<Category>o</Category>
</Flags>
</Object>
</Objects>
</Dictionary>
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<Exclude>#x1b06</Exclude>
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<Exclude>#x1b08</Exclude>
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<Index>#x6064</Index>
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<Index>#x6064</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name>Position actual value</Name>
<DataType>DINT</DataType>
</Entry>
<Entry>
<Index>#x6041</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Status word</Name>
<DataType>UINT</DataType>
</Entry>
<Entry>
<Index>#x2901</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Latch status word</Name>
<DataType>UINT</DataType>
</Entry>
<Entry>
<Index>#x2902</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name>Latch position</Name>
<DataType>DINT</DataType>
</Entry>
</TxPdo>
<TxPdo Fixed="1">
<Index>#x1b07</Index>
<Name>Inputs</Name>
<Exclude>#x1b01</Exclude>
<Exclude>#x1b03</Exclude>
<Exclude>#x1b04</Exclude>
<Exclude>#x1b05</Exclude>
<Exclude>#x1b06</Exclude>
<Exclude>#x1b08</Exclude>
<Entry>
<Index>#x6064</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name>Position actual value</Name>
<DataType>DINT</DataType>
</Entry>
<Entry>
<Index>#x35C9</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name>Position actual value 2</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</Name>
<DataType>DINT</DataType>
</Entry>
<Entry>
<Index>#x6041</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Status word</Name>
<DataType>UINT</DataType>
</Entry>
<Entry>
<Index>#x2901</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Latch status word</Name>
<DataType>UINT</DataType>
</Entry>
<Entry>
<Index>#x2902</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name>Latch position</Name>
<DataType>DINT</DataType>
</Entry>
</TxPdo>
<TxPdo Fixed="1">
<Index>#x1b08</Index>
<Name>Inputs</Name>
<Exclude>#x1b01</Exclude>
<Exclude>#x1b03</Exclude>
<Exclude>#x1b04</Exclude>
<Exclude>#x1b05</Exclude>
<Exclude>#x1b06</Exclude>
<Exclude>#x1b07</Exclude>
<Entry>
<Index>#x6064</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name>Position 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</Name>
<DataType>DINT</DataType>
</Entry>
<Entry>
<Index>#x6061</Index>
<SubIndex>0</SubIndex>
<BitLen>8</BitLen>
<Name>Operation mode display</Name>
<DataType>USINT</DataType>
</Entry>
<Entry>
<Index>0</Index>
<SubIndex>0</SubIndex>
<BitLen>8</BitLen>
</Entry>
<Entry>
<Index>#x6041</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Status word</Name>
<DataType>UINT</DataType>
</Entry>
<Entry>
<Index>#x2901</Index>
<SubIndex>0</SubIndex>
<BitLen>16</BitLen>
<Name>Latch status word</Name>
<DataType>UINT</DataType>
</Entry>
<Entry>
<Index>#x2902</Index>
<SubIndex>0</SubIndex>
<BitLen>32</BitLen>
<Name>Latch position</Name>
<DataType>DINT</DataType>
</Entry>
</TxPdo>
<Mailbox>
<CoE DS402Channels="1" PdoAssign="1">
<InitCmd>
<Transition>PS</Transition>
<Index>#x6060</Index>
<SubIndex>0</SubIndex>
<Data>fe</Data>
<Comment>Op mode</Comment>
</InitCmd>
<InitCmd>
<Transition>PS</Transition>
<Index>#x60c2</Index>
<SubIndex>1</SubIndex>
<Data>02</Data>
<Comment>Cycle time</Comment>
</InitCmd>
<InitCmd>
<Transition>PS</Transition>
<Index>#x60c2</Index>
<SubIndex>2</SubIndex>
<Data>fd</Data>
<Comment>Cycle exp</Comment>
</InitCmd>
</CoE>
</Mailbox>
<Dc UnknownFRMW="1">
<OpMode>
<Name>DcOff</Name>
<Desc>DC unused</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>
<OpMode>
<Name>DcSync</Name>
<Desc>DC for synchronization</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>
</Dc>
<Eeprom>
<ByteSize>2048</ByteSize>
<ConfigData>090000080000</ConfigData>
</Eeprom>
<Image16x14>DRIVE</Image16x14>
<VendorSpecific>
<TwinCAT AX2000="1"/>
</VendorSpecific>
</Device>
</Devices>
</Descriptions>
</EtherCATInfo>
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