<?xml version="1.0"?>
<!-- edited with XMLSpy v2013 (http://www.altova.com) by  () -->
<EtherCATInfo xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd" Version="1.6">
	<Vendor>
		<Id>#x00688688</Id>
		<Name>Robust Motion Products</Name>
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	</Vendor>
	<Descriptions>
		<Groups>
			<Group SortOrder="0">
				<Type>RMAxis</Type>
				<Name LcId="1031">RM_CEU</Name>
				<Name LcId="1033">RM_CEU</Name>
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			</Group>
		</Groups>
		<Devices>
			<Device Physics="YY">
				<Type ProductCode="#x22205682" RevisionNo="#x20220527">Robust Motion</Type>
				<Name LcId="1031">RM_CEU</Name>
				<Name LcId="1033">RM_CEU</Name>
				<Info>
					<StateMachine>
						<Timeout>
							<PreopTimeout>2000</PreopTimeout>
							<SafeopOpTimeout>9000</SafeopOpTimeout>
							<BackToInitTimeout>5000</BackToInitTimeout>
							<BackToSafeopTimeout>200</BackToSafeopTimeout>
						</Timeout>
					</StateMachine>
					<Mailbox>
						<Timeout>
							<RequestTimeout>100</RequestTimeout>
							<ResponseTimeout>2000</ResponseTimeout>
						</Timeout>
					</Mailbox>
				</Info>
				<GroupType>RMAxis</GroupType>
				<Profile>
					<ChannelInfo>
						<ProfileNo>402</ProfileNo>
					</ChannelInfo>
					<Dictionary>
						<DataTypes>
							<DataType>
								<Name>BIT</Name>
								<BitSize>1</BitSize>
							</DataType>
							<DataType>
								<Name>BIT8</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<Name>SINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<Name>INT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<Name>DINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<Name>LINT</Name>
								<BitSize>64</BitSize>
							</DataType>
							<DataType>
								<Name>USINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<Name>UINT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<Name>UDINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<Name>ULINT</Name>
								<BitSize>64</BitSize>
							</DataType>
							<DataType>
								<Name>REAL</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<Name>LREAL</Name>
								<BitSize>64</BitSize>
							</DataType>
							<!--Robust Motion Data Types-->
							<DataType>
								<Name>DIRECT_MOTION</Name>
								<BitSize>128</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Target Position</Name>
									<Type>REAL</Type>
									<BitSize>32</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Target Velocity</Name>
									<Type>REAL</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Target Acceleration</Name>
									<Type>REAL</Type>
									<BitSize>32</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Torque Limit</Name>
									<Type>REAL</Type>
									<BitSize>32</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>Force-Sensor</Name>
								<BitSize>32</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>force-sensor-reading</Name>
									<Type>REAL</Type>
									<BitSize>32</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>STATE_OBSERVER</Name>
								<BitSize>96</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Current Position</Name>
									<Type>REAL</Type>
									<BitSize>32</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Current Velocity</Name>
									<Type>REAL</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
							</DataType>

							<DataType>
								<Name>CUSTOM-PARAM-D</Name>
								<BitSize>128</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>d0</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>d1</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>d2</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>d3</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>d4</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>128</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>CUSTOM-PARAM-B</Name>
								<BitSize>64</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>B0</Name>
									<Type>UINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>

								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>B1</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>8</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>B2</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>B3</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>24</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>B4</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>B5</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>40</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>B6</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>B7</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>56</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>B8</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
							</DataType>

							<DataType>
								<Name>CUSTOM-PARAM-F</Name>
								<BitSize>96</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>f0</Name>
									<Type>REAL</Type>
									<BitSize>32</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>f1</Name>
									<Type>REAL</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>f2</Name>
									<Type>REAL</Type>
									<BitSize>32</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
							</DataType>

							<DataType>
								<Name>VIRTUAL_IO_CONTROL</Name>
								<BitSize>192</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Command Start</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Command Stop</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>8</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Save Parameters</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Load Parameters</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>24</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Save Commands</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Load Commands</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>40</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Error Reset</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Servo On Off</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>56</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Command Pulse Enable</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Hardware Io Enable</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>72</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Load Trace</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Monitor Full</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>88</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Monitor Start</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>13</SubIdx>
									<Name>In Position</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>104</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>14</SubIdx>
									<Name>Error Alarm</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>15</SubIdx>
									<Name>reset force</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>120</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>

								<SubItem>
									<SubIdx>16</SubIdx>
									<Name>restart</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>128</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>17</SubIdx>
									<Name>command_auto_clear</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>136</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>	

								<SubItem>
									<SubIdx>18</SubIdx>
									<Name>go_home</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>

								<SubItem>
									<SubIdx>19</SubIdx>
									<Name>position_deviation_overflow</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>152</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>

								<SubItem>
									<SubIdx>20</SubIdx>
									<Name>velocity_deviation_overflow</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>160</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>21</SubIdx>
									<Name>motor_stuck</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>168</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>27</SubIdx>
									<Name>gone_home</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>28</SubIdx>
									<Name>align directmotion</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>184</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>VIRTUAL_IO_COMMAND_ARR</Name>
								<BaseType>USINT </BaseType>
								<BitSize>256</BitSize>
								<ArrayInfo>
									<LBound>1</LBound>
									<Elements>32</Elements>
								</ArrayInfo>
							</DataType>

							<DataType>
                			<Name>VIRTUAL_IO_CONTROL_start</Name>
                			<BitSize>88</BitSize>
								<SubItem>
								<SubIdx>0</SubIdx>
								<Name>Start_0</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<BitOffs>0</BitOffs>
								<Flags>
									<Access>rw</Access>
									<Category>m</Category>
								</Flags>
								</SubItem>
								<SubItem>
								<SubIdx>1</SubIdx>
								<Name>Start_1</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<BitOffs>8</BitOffs>
								<Flags>
									<Access>rw</Access>
									<Category>m</Category>
								</Flags>
								</SubItem>
								<SubItem>
								<SubIdx>2</SubIdx>
								<Name>Start_2</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<BitOffs>16</BitOffs>
								<Flags>
									<Access>rw</Access>
									<Category>m</Category>
								</Flags>
								</SubItem>
								<SubItem>
								<SubIdx>3</SubIdx>
								<Name>Start_3</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<BitOffs>24</BitOffs>
								<Flags>
									<Access>rw</Access>
									<Category>m</Category>
								</Flags>
								</SubItem>
								<SubItem>
								<SubIdx>4</SubIdx>
								<Name>Start_4</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<BitOffs>32</BitOffs>
								<Flags>
									<Access>rw</Access>
									<Category>m</Category>
								</Flags>
								</SubItem>
								<SubItem>
								<SubIdx>5</SubIdx>
								<Name>Start_5</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<BitOffs>40</BitOffs>
								<Flags>
									<Access>rw</Access>
									<Category>m</Category>
								</Flags>
								</SubItem>
								<SubItem>
								<SubIdx>6</SubIdx>
								<Name>Start_6</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<BitOffs>48</BitOffs>
								<Flags>
									<Access>rw</Access>
									<Category>m</Category>
								</Flags>
								</SubItem>
								<SubItem>
								<SubIdx>7</SubIdx>
								<Name>Start_7</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<BitOffs>56</BitOffs>
								<Flags>
									<Access>rw</Access>
									<Category>m</Category>
								</Flags>
								</SubItem>
								<SubItem>
								<SubIdx>8</SubIdx>
								<Name>Start_8</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<BitOffs>64</BitOffs>
								<Flags>
									<Access>rw</Access>
									<Category>m</Category>
								</Flags>
								</SubItem>
								<SubItem>
								<SubIdx>9</SubIdx>
								<Name>Start_9</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<BitOffs>72</BitOffs>
								<Flags>
									<Access>rw</Access>
									<Category>m</Category>
								</Flags>
								</SubItem>
								<SubItem>
								<SubIdx>10</SubIdx>
								<Name>Start_10</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<BitOffs>80</BitOffs>
								<Flags>
									<Access>rw</Access>
									<Category>m</Category>
								</Flags>
								</SubItem>
							</DataType>

							<DataType>
								<Name>VIRTUAL_IO_CONTROL Finished</Name>
								<BitSize>88</BitSize>
								<SubItem>
								<SubIdx>0</SubIdx>
								<Name>finished_0</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<BitOffs>0</BitOffs>
								<Flags>
									<Access>rw</Access>
									<Category>m</Category>
								</Flags>
								</SubItem>
								<SubItem>
								<SubIdx>1</SubIdx>
								<Name>finished_1</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<BitOffs>8</BitOffs>
								<Flags>
									<Access>rw</Access>
									<Category>m</Category>
								</Flags>
								</SubItem>
								<SubItem>
								<SubIdx>2</SubIdx>
								<Name>finished_2</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<BitOffs>16</BitOffs>
								<Flags>
									<Access>rw</Access>
									<Category>m</Category>
								</Flags>
								</SubItem>
								<SubItem>
								<SubIdx>3</SubIdx>
								<Name>finished_3</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<BitOffs>24</BitOffs>
								<Flags>
									<Access>rw</Access>
									<Category>m</Category>
								</Flags>
								</SubItem>
								<SubItem>
								<SubIdx>4</SubIdx>
								<Name>finished_4</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<BitOffs>32</BitOffs>
								<Flags>
									<Access>rw</Access>
									<Category>m</Category>
								</Flags>
								</SubItem>
								<SubItem>
								<SubIdx>5</SubIdx>
								<Name>finished_5</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<BitOffs>40</BitOffs>
								<Flags>
									<Access>rw</Access>
									<Category>m</Category>
								</Flags>
								</SubItem>
								<SubItem>
								<SubIdx>6</SubIdx>
								<Name>finished_6</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<BitOffs>48</BitOffs>
								<Flags>
									<Access>rw</Access>
									<Category>m</Category>
								</Flags>
								</SubItem>
								<SubItem>
								<SubIdx>7</SubIdx>
								<Name>finished_7</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<BitOffs>56</BitOffs>
								<Flags>
									<Access>rw</Access>
									<Category>m</Category>
								</Flags>
								</SubItem>
								<SubItem>
								<SubIdx>8</SubIdx>
								<Name>finished_8</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<BitOffs>64</BitOffs>
								<Flags>
									<Access>rw</Access>
									<Category>m</Category>
								</Flags>
								</SubItem>
								<SubItem>
								<SubIdx>9</SubIdx>
								<Name>finished_9</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<BitOffs>72</BitOffs>
								<Flags>
									<Access>rw</Access>
									<Category>m</Category>
								</Flags>
								</SubItem>
								<SubItem>
								<SubIdx>10</SubIdx>
								<Name>finished_10</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<BitOffs>80</BitOffs>
								<Flags>
									<Access>rw</Access>
									<Category>m</Category>
								</Flags>
								</SubItem>
							</DataType>



							<DataType>
								<Name>VIRTUAL_IO_COMMAND_START</Name>
								<BitSize>256</BitSize>
								<SubItem>
									<Name>Value</Name>
									<Type>VIRTUAL_IO_COMMAND_ARR</Type>
									<BitSize>256</BitSize>
									<BitOffs>0</BitOffs>
								</SubItem>
							</DataType>
							<DataType>
								<Name>VIRTUAL_IO_COMMAND_FINISHED</Name>
								<BitSize>256</BitSize>
								<SubItem>
									<Name>Value</Name>
									<Type>VIRTUAL_IO_COMMAND_ARR</Type>
									<BitSize>256</BitSize>
									<BitOffs>0</BitOffs>
								</SubItem>
							</DataType>
							<!--CIA402 Data Types-->
							<DataType>
								<Name>SOFTWARE_POSITION_LIMIT_ARR</Name>
								<BaseType>DINT</BaseType>
								<BitSize>64</BitSize>
								<ArrayInfo>
									<LBound>1</LBound>
									<Elements>2</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>SOFTWARE_POSITION_LIMIT</Name>
								<BitSize>80</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<Name>Elements</Name>
									<Type>SOFTWARE_POSITION_LIMIT_ARR</Type>
									<BitSize>64</BitSize>
									<BitOffs>16</BitOffs>
								</SubItem>
							</DataType>
							<DataType>
								<Name>HOMING_SPEEDS_ARR</Name>
								<BaseType>UDINT</BaseType>
								<BitSize>64</BitSize>
								<ArrayInfo>
									<LBound>1</LBound>
									<Elements>2</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>HOMING_SPEEDS</Name>
								<BitSize>80</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<Name>Elements</Name>
									<Type>HOMING_SPEEDS_ARR</Type>
									<BitSize>64</BitSize>
									<BitOffs>16</BitOffs>
								</SubItem>
							</DataType>
						</DataTypes>
						<Objects>
							<!--CIA301 Objects-->
							<Object>
								<Index>#x1000</Index>
								<Name>Device type</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>m</Category>
								</Flags>
							</Object>
							<!--Robust Motion Objects-->
						<Object>
								<Index>#x2018</Index>
								<Name>force-sensor</Name>
								<Type>Force-Sensor</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>m</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x2009</Index>
								<Name>State Observer</Name>
								<Type>STATE_OBSERVER</Type>
								<BitSize>96</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>m</Category>
								</Flags>
							</Object>
							
							<Object>
								<Index>#x201E</Index>
								<Name>Custom-param-d</Name>
								<Type>CUSTOM-PARAM-D</Type>
								<BitSize>128</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>m</Category>
								</Flags>
							</Object>

							<Object>
								<Index>#x2020</Index>
								<Name>Custom-param-b</Name>
								<Type>CUSTOM-PARAM-B</Type>
								<BitSize>64</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>m</Category>
								</Flags>
							</Object>

							<Object>
								<Index>#x201F</Index>
								<Name>Custom-param-f</Name>
								<Type>CUSTOM-PARAM-F</Type>
								<BitSize>96</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>m</Category>
								</Flags>
							</Object>

							<Object>
								<Index>#x200A</Index>
								<Name>Virtual Io Control</Name>
								<Type>VIRTUAL_IO_CONTROL</Type>
								<BitSize>192</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>m</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x200B</Index>
								<Name>Virtual Io Command Start</Name>
								<Type>VIRTUAL_IO_CONTROL_start</Type>
								<BitSize>88</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>m</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x200C</Index>
								<Name>Virtual Io Command Finished</Name>
								<Type>VIRTUAL_IO_CONTROL Finished</Type>
								<BitSize>88</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>m</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x2017</Index>
								<Name>Direct Motion</Name>
								<Type>DIRECT_MOTION</Type>
								<BitSize>128</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>m</Category>
								</Flags>
							</Object>
                            <Object>
								<Index>#x2021</Index>
								<Name>Virtual Io In Position Range</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>m</Category>
								</Flags>
							</Object>
							<!--CIA402 Objects-->
							<Object>
								<Index>#x603f</Index>
								<Name>ErrorCode</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6040</Index>
								<Name>Controlword</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6041</Index>
								<Name>Statusword</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x605b</Index>
								<Name>Shutdown Option Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#xffff</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605c</Index>
								<Name>Disable Operation Option Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#xffff</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605d</Index>
								<Name>Halt Option Code </Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#x1</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x605e</Index>
								<Name>Fault Reaction Option Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultValue>#xffff</DefaultValue>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x6060</Index>
								<Name>Modes of Operation</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>r</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6061</Index>
								<Name>Modes of Operation Display</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6062</Index>
								<Name>Position Demand Value </Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x6064</Index>
								<Name>Position Actual Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultValue>#x0</DefaultValue>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
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		</Devices>
	</Descriptions>
</EtherCATInfo>
