<?xml version="1.0" encoding="UTF-8"?>
<!-- edited with XMLSpy v2013 (http://www.altova.com) by  () -->
<!--fix od list according to LMS V1.01-->
<!--add 225C OD 20191226 V1.02-->
<!--add 607E OD 20191231 V1.03-->
<!--2000h bit size fixed 20200303 V1.04-->
<!--some OD fixed 20200601 V1.05-->
<!--2001h fixed 20200701 V1.06-->
<!--delete 882 20201207 V1.07-->
<!--New Product:DM3C-882AC 20210908 V1.08-->
<EtherCATInfo Version="1.73" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
	<Vendor FileVersion="20190226">
		<Id>17185</Id>
		<Name LcId="1033">Leadshine Technology Co.,Ltd.</Name>
		<Name LcId="2052">深圳市雷赛智能控制股份有限公司</Name>
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	</Vendor>
	<Descriptions>
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				<Type>Stepper Drive</Type>
				<Name LcId="1033">Stepper Drives</Name>
				<Name LcId="2052">步进驱动器</Name>
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			</Group>
		</Groups>
		<Devices>
			<Device Physics="YY">
				<Type ProductCode="#x8600" RevisionNo="#x0001">DM3C-EC556</Type>
				<Name LcId="1033"><![CDATA[DM3C-EC556(COE)]]></Name>
				<Comment LcId="1033">50VDC/5.6A Stepper Drive</Comment>
				<Comment LcId="2052">50VDC/5.6A 步进驱动器</Comment>
				<URL LcId="1033">http://www.leadshine.com</URL>
				<URL LcId="2052">http://www.leisai.com</URL>
				<Info>
					<StateMachine>
						<Timeout>
							<PreopTimeout>2000</PreopTimeout>
							<SafeopOpTimeout>9000</SafeopOpTimeout>
							<BackToInitTimeout>5000</BackToInitTimeout>
							<BackToSafeopTimeout>200</BackToSafeopTimeout>
						</Timeout>
						<Behavior StartToSafeopNoSync="true"/>
					</StateMachine>
					<Mailbox>
						<Timeout>
							<RequestTimeout>100</RequestTimeout>
							<ResponseTimeout>5000</ResponseTimeout>
						</Timeout>
					</Mailbox>
					<IdentificationReg134>false</IdentificationReg134>
				</Info>
				<GroupType>Stepper Drive</GroupType>
				<Profile>
					<ChannelInfo>
						<ProfileNo>402</ProfileNo>
					</ChannelInfo>
					<Dictionary>
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								<!--Signed short integer-->
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								<Name>DINT</Name>
								<!--Signed double integer-->
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								<!--Signed 64-bit integer-->
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								<Name>ARRAY [0..4] OF UINT</Name>
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								<!--Trajectory segment-->
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								<!--Bi-quad filter coefficients-->
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								<!--I/O extension data-->
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								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>RPDO 3 Mapping Information 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>RPDO 3 Mapping Information 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>RPDO 3 Mapping Information 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>RPDO 3 Mapping Information 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>RPDO 3 Mapping Information 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>RPDO 3 Mapping Information 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1603</Name>
								<BitSize>272</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>RPDO 4 Mapping Information 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>RPDO 4 Mapping Information 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>RPDO 4 Mapping Information 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>RPDO 4 Mapping Information 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>RPDO 4 Mapping Information 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>RPDO 4 Mapping Information 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>RPDO 4 Mapping Information 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>RPDO 4 Mapping Information 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A00</Name>
								<BitSize>272</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>TPDO 1 Mapping Information 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>TPDO 1 Mapping Information 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>TPDO 1 Mapping Information 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>TPDO 1 Mapping Information 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>TPDO 1 Mapping Information 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>TPDO 1 Mapping Information 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>TPDO 1 Mapping Information 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>TPDO 1 Mapping Information 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A01</Name>
								<BitSize>272</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>TPDO 2 Mapping Information 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>TPDO 2 Mapping Information 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>TPDO 2 Mapping Information 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>TPDO 2 Mapping Information 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>TPDO 2 Mapping Information 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>TPDO 2 Mapping Information 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>TPDO 2 Mapping Information 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>TPDO 2 Mapping Information 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C00</Name>
								<BitSize>48</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>
									<SubIdx>1</SubIdx>
									<Name>Comm. Type, Sync Manager 0</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Comm. Type, Sync Manager 1</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>24</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Comm. Type, Sync Manager 2</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Comm. Type, Sync Manager 3</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>40</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C12</Name>
								<BitSize>80</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 2</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 3</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C13</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 3, PDO Mapping 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 3, PDO Mapping 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C32</Name>
								<BitSize>480</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>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 2, Synchronization type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 2, Cycle time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Sync Manager 2, Shift time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Sync Manager 2, Sync types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Sync Manager 2, Minimum cycle time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Sync Manager 2, Calc and copy time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Sync Manager 2, Minimum hardware delay</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Sync Manager 2,Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Sync Manager 2, Hardware delay time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync Manager 2, Sync0 cycle time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Sync Manager 2, SM-Event missed Counter</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Sync Manager 2, Cycle Time Too Small Counter</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>13</SubIdx>
									<Name>Sync Manager 2, Shift Time Too Short Counter</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>320</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>14</SubIdx>
									<Name>Sync Manager 2, RxPDO Toggle Failed Count</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>15</SubIdx>
									<Name>Sync Manager 2, Minimum cycle distance</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>352</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>16</SubIdx>
									<Name>Sync Manager 2, Maximum cycle distance</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>384</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>17</SubIdx>
									<Name>Sync Manager 2, Minimum SM SYNC distance</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>416</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>18</SubIdx>
									<Name>Sync Manager 2, Maximum SM SYNC distance</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>448</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C33</Name>
								<BitSize>320</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>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 3, Synchronization type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 3, Cycle time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Sync Manager 3, Shift time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Sync Manager 3, Sync types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Sync Manager 3, Minimum cycle time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Sync Manager 3, Calc and copy time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Sync Manager 3, Minimum hardware delay</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Sync Manager 3,Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Sync Manager 3, Hardware delay time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync Manager 3, Sync0 cycle time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Sync Manager 3, SM-Event missed Counter</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Sync Manager 3, Cycle Time Too Small Counter</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2010</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>
									<SubIdx>1</SubIdx>
									<Name>FIR Filter Time</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>IIR Filter Time</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2019</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>
									<SubIdx>1</SubIdx>
									<Name>Reached Pulse Compensate</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Disable Reached Mode</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT201A</Name>
								<BitSize>144</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>
									<SubIdx>1</SubIdx>
									<Name>Power On Enable Current percentage</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Open Loop Standby Current percentage</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Close Loop Standby Current percentage</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Turn Off Voltage percentage</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2025</Name>
								<BitSize>176</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>
									<SubIdx>1</SubIdx>
									<Name>Open to Close Mode Speed Level</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Open to Close Mode Delay</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Close to Open Mode Speed Level</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Close to Open Mode Delay</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Close to Open Mode Actual Speed Level</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2081</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>
									<SubIdx>1</SubIdx>
									<Name>Weak Magnetic Coefficient 1</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Weak Magnetic Coefficient 2</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2090</Name>
								<BitSize>176</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>
									<SubIdx>1</SubIdx>
									<Name>Current Loop Gain</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Current Loop Integral</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Current Loop Saturation Time Constant</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Current Loop Gain Ratio</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Torque Feedforward</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2091</Name>
								<BitSize>240</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>
									<SubIdx>1</SubIdx>
									<Name>Speed Loop Gain</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Speed Loop Integral</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Speed Loop Gain 2</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Speed Loop Integral Limit</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Speed Loop Filter Setting</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Speed Loop Sample Filter Setting</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Velocity Feedforward</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2092</Name>
								<BitSize>112</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>
									<SubIdx>1</SubIdx>
									<Name>Position Loop Gain</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Position Loop Gain 2</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Position Loop Filter Setting</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2152</Name>
								<BitSize>208</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>
									<SubIdx>1</SubIdx>
									<Name>Input 1 Function</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Input 2 Function</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Input 3 Function</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Input 4 Function</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Input 5 Function</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Input 6 Function</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2156</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>
									<SubIdx>1</SubIdx>
									<Name>Output 1 Function</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Output 2 Function</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT3100</Name>
								<BitSize>64</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>
									<SubIdx>1</SubIdx>
									<Name>Driver Software Version</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>FPGA Software Version</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Slave Stack Software Version</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT3FFE</Name>
								<BitSize>240</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>
									<SubIdx>1</SubIdx>
									<Name>Fault Record 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Fault Record 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Fault Record 2</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Fault Record 3</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Fault Record 4</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Fault Record 5</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Fault Record 6</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Fault Record 7</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>128</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Fault Record 8</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Fault Record 9</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>160</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Fault Record 10</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Fault Record 11</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>192</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>13</SubIdx>
									<Name>Fault Record 12</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>14</SubIdx>
									<Name>Fault Record 13</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>214</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT4000</Name>
								<BitSize>144</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>
									<SubIdx>1</SubIdx>
									<Name>Motor Type</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Motor Resistance</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Motor Inductance</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Motor Back EMF Coefficient</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT4003</Name>
								<BitSize>112</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>
									<SubIdx>1</SubIdx>
									<Name>Break Lock Delay Time</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Break Release Delay Time</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Break Release Speed</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT4005</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>
									<SubIdx>1</SubIdx>
									<Name>Regenerative Resistance Circuit Enable</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Regenerative Resistance Circuit Turn On Voltage</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT5000</Name>
								<BitSize>128</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>
									<SubIdx>1</SubIdx>
									<Name>Trajectory Generator Status</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Motion State Machine</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Interior Enable Status</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Target Reached Status</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Internal Response Status</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>EEPROM Status</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Special Status</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT5002</Name>
								<BitSize>48</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>
									<SubIdx>1</SubIdx>
									<Name>Register Address</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Register Data</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT5004</Name>
								<BitSize>272</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>
									<SubIdx>1</SubIdx>
									<Name>Outputs Size</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Inputs Size</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>RPDO Count</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>TPDO Count</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Sync0 Watch Dog Counter</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Sync0 Watch Dog Counter Internal</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Sync0 Watch Value</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Sync0 Drift Counter</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>128</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Sync0 Drift Value</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>SM Watch Dog Counter Internal</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>160</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>SM Watch Dog Value Internal</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>SM Sync0 Watch Dog Counter</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>13</SubIdx>
									<Name>SM Sync0 Watch Dog Value</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>192</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>14</SubIdx>
									<Name>Sync0 Ratio</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>15</SubIdx>
									<Name>Sync Function Setting</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>16</SubIdx>
									<Name>Sync0 Interval</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT5012</Name>
								<BitSize>128</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>
									<SubIdx>1</SubIdx>
									<Name>Home Reached Position</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Home Triggered Position</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Home IO Simulator</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Home Setting</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Home Speed Limit</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT5015</Name>
								<BitSize>192</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>
									<SubIdx>1</SubIdx>
									<Name>Internal Command Position</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Internal Command Velocity</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Internal Command Torque</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Internal Reserve 1</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Profile Mode Setting 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>128</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Profile Mode Setting 2</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Internal Reserve 2</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>160</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Internal Reserve 3</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT5400</Name>
								<BitSize>48</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>
									<SubIdx>1</SubIdx>
									<Name>DC Period Minimux Value</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>DC Period Maximux Value</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT5500</Name>
								<BitSize>336</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>
									<SubIdx>1</SubIdx>
									<Name>Number of Turns of Absolute Encoder</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Single Turn Position of Absolute Encoder</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Low Position of Absolute Encoder</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>High Position of Absolute Encoder</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Low Mechanical Position</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>High Mechanical Position</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Encoder Communication Error  Counter</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Manufacture Reserve High </Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Manufacture Use Low </Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Manufacture Use High </Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT5501</Name>
								<BitSize>272</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>
									<SubIdx>1</SubIdx>
									<Name>Actual Motor Speed</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Command Speed</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Speed Command</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Actual Torque</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Command Torque</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Relative Position Error</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Internal Position Command</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>128</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Overload Rate</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>160</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Regenrative Resistance Load Ratio</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Inertia Ratio</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>192</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Positive Actual Torque Limit</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Negative Actual Torque Limit</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>13</SubIdx>
									<Name>U Phase Actual Current</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>14</SubIdx>
									<Name>V Phase Actual Current</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT5502</Name>
								<BitSize>144</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>
									<SubIdx>1</SubIdx>
									<Name>Digital Input Level</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Digital Output Level</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Analog Input 1 Level</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Analog Input 2 Level</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>DC Link Circuit Voltage</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>IPM Temperature</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Operation Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>116</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT607D</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>
									<SubIdx>1</SubIdx>
									<Name>Negative software limit position</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Positive software limit position</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT608F</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>
									<SubIdx>1</SubIdx>
									<Name>Encoder increments</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Motor revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6091</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>
									<SubIdx>1</SubIdx>
									<Name>Motor revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Shaft revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6092</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>
									<SubIdx>1</SubIdx>
									<Name>Feed increments</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Shaft revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
							</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>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Homing Velocity (fast)</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Homing Velocity (slow)</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT60A4</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>
									<SubIdx>1</SubIdx>
									<Name>Profile Jerk 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Profile Jerk 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT60C1</Name>
								<BitSize>88</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>
									<SubIdx>1</SubIdx>
									<Name>Interpolated position value</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Interpolated time value</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Interpolated velocity value</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>56</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT60C2</Name>
								<BitSize>32</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>
									<SubIdx>1</SubIdx>
									<Name>Interpolation Time Value</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Interpolation Time Units</Name>
									<Type>SINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>24</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT60FE</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>
									<SubIdx>1</SubIdx>
									<Name>Physical Outputs</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Bit Mask</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
						</DataTypes>
						<Objects>
							<Object>
								<Index>#x1000</Index>
								<Name>Device Type</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1001</Index>
								<Name>Error Register</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x1008</Index>
								<Name>Device Name</Name>
								<Type>STRING(7)</Type>
								<BitSize>56</BitSize>
								<Info/>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1009</Index>
								<Name>Hardware Version</Name>
								<Type>STRING(5)</Type>
								<BitSize>40</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x100A</Index>
								<Name>Software Version</Name>
								<Type>STRING(5)</Type>
								<BitSize>40</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1010</Index>
								<Name>Store Parameters</Name>
								<Type>DT1010</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1011</Index>
								<Name>Restore Parameters</Name>
								<Type>DT1011</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1018</Index>
								<Name>Identity Object</Name>
								<Type>DT1018</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x10F1</Index>
								<Name>Error Settings</Name>
								<Type>DT10F1</Type>
								<BitSize>64</BitSize>
							</Object>
							<Object>
								<Index>#x1600</Index>
								<Name>RXPDO 1 Mapping Parameter</Name>
								<Type>DT1600</Type>
								<BitSize>272</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1601</Index>
								<Name>RXPDO 2 Mapping Parameter</Name>
								<Type>DT1601</Type>
								<BitSize>272</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1602</Index>
								<Name>RXPDO 3 Mapping Parameter</Name>
								<Type>DT1602</Type>
								<BitSize>272</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1603</Index>
								<Name>RXPDO 4 Mapping Parameter</Name>
								<Type>DT1603</Type>
								<BitSize>272</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1A00</Index>
								<Name>TXPDO 1 Mapping Parameter</Name>
								<Type>DT1A00</Type>
								<BitSize>272</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1A01</Index>
								<Name>TXPDO 2 Mapping Parameter</Name>
								<Type>DT1A01</Type>
								<BitSize>272</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1C00</Index>
								<Name>SM Communication Type</Name>
								<Type>DT1C00</Type>
								<BitSize>48</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1C12</Index>
								<Name>SM2(Outputs) PDO Assignment</Name>
								<Type>DT1C12</Type>
								<BitSize>80</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1C13</Index>
								<Name>SM3(Inputs) PDO Assignment</Name>
								<Type>DT1C13</Type>
								<BitSize>48</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1C32</Index>
								<Name>Output Sync Manager Parameter</Name>
								<Type>DT1C32</Type>
								<BitSize>480</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1C33</Index>
								<Name>Input Sync Manager Parameter</Name>
								<Type>DT1C33</Type>
								<BitSize>320</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x2000</Index>
								<Name>Peak Current</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2001</Index>
								<Name>Motor Resolution</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2010</Index>
								<Name>Filter Time</Name>
								<Type>DT2010</Type>
								<BitSize>80</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2012</Index>
								<Name>Soft Start Time</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2013</Index>
								<Name>Auto-tune Enable</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2018</Index>
								<Name>Power On Delay</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2019</Index>
								<Name>Reached Setting</Name>
								<Type>DT2019</Type>
								<BitSize>80</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x201A</Index>
								<Name>Percentage Parameters</Name>
								<Type>DT201A</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x201B</Index>
								<Name>Lock Axis Time When Power On</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x201C</Index>
								<Name>Maximum Stop Time</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x201D</Index>
								<Name>Zero Speed Threshold</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2030</Index>
								<Name>Position Loop Control Effort Limit</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2047</Index>
								<Name>Over Voltage Level</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2056</Index>
								<Name>Fault Detect Configure</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2073</Index>
								<Name>Motor Return After Power On</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2090</Index>
								<Name>Current Loop Parameters</Name>
								<Type>DT2090</Type>
								<BitSize>176</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x214A</Index>
								<Name>Slave ID Selector Data</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x214B</Index>
								<Name>HMI Display Select</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2150</Index>
								<Name>Slave Alias</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2151</Index>
								<Name>Slave Alias Source</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2152</Index>
								<Name>Inputs Function</Name>
								<Type>DT2152</Type>
								<BitSize>208</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2155</Index>
								<Name>Physical Inputs Level</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2156</Index>
								<Name>Outputs Function</Name>
								<Type>DT2156</Type>
								<BitSize>80</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x225C</Index>
								<Name>Special Function Register </Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x22A9</Index>
								<Name>Limit Switch Option Code</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x22B4</Index>
								<Name>E-stop Input Option Code</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x3100</Index>
								<Name>Firmware Version</Name>
								<Type>DT3100</Type>
								<BitSize>48</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x3FFE</Index>
								<Name>Fault Record</Name>
								<Type>DT3FFE</Type>
								<BitSize>240</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x4000</Index>
								<Name>Motor Parameters</Name>
								<Type>DT4000</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x4003</Index>
								<Name>Motor Break Parameters</Name>
								<Type>DT4003</Type>
								<BitSize>112</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x4005</Index>
								<Name>Regenerative Resistance Parameters</Name>
								<Type>DT4005</Type>
								<BitSize>80</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x4500</Index>
								<Name>Current Error ID</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x5000</Index>
								<Name>Internal States</Name>
								<Type>DT5000</Type>
								<BitSize>128</BitSize>
							</Object>
							<Object>
								<Index>#x5002</Index>
								<Name>ESC Register Interface</Name>
								<Type>DT5002</Type>
								<BitSize>48</BitSize>
							</Object>
							<Object>
								<Index>#x5004</Index>
								<Name>Sync Interface Parameters</Name>
								<Type>DT5004</Type>
								<BitSize>272</BitSize>
							</Object>
							<Object>
								<Index>#x5005</Index>
								<Name>DC Compensate Base Value</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x5006</Index>
								<Name>Sync Error Detect Setting</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x5010</Index>
								<Name>Valid Outputs/Inputs Watch Dog Time</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x5011</Index>
								<Name>Internal Actual Position</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x5012</Index>
								<Name>Home Interface</Name>
								<Type>DT5012</Type>
								<BitSize>128</BitSize>
							</Object>
							<Object>
								<Index>#x5013</Index>
								<Name>Motor Not Work Code</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x5400</Index>
								<Name>DC Period Setting</Name>
								<Type>DT5400</Type>
								<BitSize>80</BitSize>
							</Object>
							<Object>
								<Index>#x5500</Index>
								<Name>Absolute Encoder Monitors</Name>
								<Type>DT5500</Type>
								<BitSize>336</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x5501</Index>
								<Name>Motion Monitors</Name>
								<Type>DT5501</Type>
								<BitSize>336</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x5502</Index>
								<Name>Miscellaneous Monitors</Name>
								<Type>DT5502</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x603f</Index>
								<Name>Last Error Code</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6040</Index>
								<Name>Control Word</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6041</Index>
								<Name>Status Word</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x605A</Index>
								<Name>Quick Stop Option Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x605B</Index>
								<Name>Shutdown option code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x605C</Index>
								<Name>Disable operation option code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x605D</Index>
								<Name>Halt option code</Name>
								<Type>INT</Type>
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								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
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							</Object>
							<Object>
								<Index>#x605E</Index>
								<Name>Fault reaction option code</Name>
								<Type>INT</Type>
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								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
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							<Object>
								<Index>#x6060</Index>
								<Name>Modes of Operation</Name>
								<Type>USINT</Type>
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								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
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							</Object>
							<Object>
								<Index>#x6061</Index>
								<Name>Modes of Operation Display</Name>
								<Type>USINT</Type>
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								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
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							</Object>
							<Object>
								<Index>#x6062</Index>
								<Name>Commanded Position</Name>
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								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6064</Index>
								<Name>Actual Position</Name>
								<Type>DINT</Type>
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								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
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							</Object>
							<Object>
								<Index>#x606B</Index>
								<Name>Commanded Velocity</Name>
								<Type>DINT</Type>
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								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
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							</Object>
							<Object>
								<Index>#x606C</Index>
								<Name>Actual Velocity</Name>
								<Type>DINT</Type>
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								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6073</Index>
								<Name>Max Current</Name>
								<Type>UINT</Type>
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								<Flags>
									<Access>rw</Access>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x607A</Index>
								<Name>Profile Target Position</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x607C</Index>
								<Name>Homing Offset</Name>
								<Type>DINT</Type>
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								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x607E</Index>
								<Name>Polarity</Name>
								<Type>USINT</Type>
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								<Flags>
									<Access>rw</Access>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x607F</Index>
								<Name>Max Profile velocity</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6080</Index>
								<Name>Max motor speed</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6081</Index>
								<Name>Profile Velocity</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6082</Index>
								<Name>End Velocity</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6083</Index>
								<Name>Profile Acceleration</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6084</Index>
								<Name>Profile Deceleration</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6085</Index>
								<Name>Quick Stop Deceleration</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x608F</Index>
								<Name>Position encoder resolution</Name>
								<Type>DT608F</Type>
								<BitSize>80</BitSize>
							</Object>
							<Object>
								<Index>#x6092</Index>
								<Name>Feed constant</Name>
								<Type>DT6092</Type>
								<BitSize>80</BitSize>
							</Object>
							<Object>
								<Index>#x6098</Index>
								<Name>Homing Method</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6099</Index>
								<Name>Homing Velocity</Name>
								<Type>DT6099</Type>
								<BitSize>80</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x609A</Index>
								<Name>Homing Acceleration</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60B0</Index>
								<Name>Position Offset</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60B8</Index>
								<Name>Touch Probe Function</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60B9</Index>
								<Name>Touch Probe Status</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BA</Index>
								<Name>Touch Probe 1 Positive Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BB</Index>
								<Name>Touch Probe 1 Negative Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BC</Index>
								<Name>Touch Probe 2 Positive Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BD</Index>
								<Name>Touch Probe 2 Negative Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60C2</Index>
								<Name>InterPolation Time Period</Name>
								<Type>DT60C2</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D5</Index>
								<Name>Touch Probe 1 Positive Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D6</Index>
								<Name>Touch Probe 1 Negative Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D7</Index>
								<Name>Touch Probe 2 Positive Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D8</Index>
								<Name>Touch Probe 2 Negative Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60FD</Index>
								<Name>Digital Inputs</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60FE</Index>
								<Name>Digital Outputs</Name>
								<Type>DT60FE</Type>
								<BitSize>72</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60FF</Index>
								<Name>Target Velocity</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6502</Index>
								<Name>Supported Drive Modes</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
						</Objects>
					</Dictionary>
				</Profile>
				<Fmmu>MBoxState</Fmmu>
				<Fmmu Sm="2">Outputs</Fmmu>
				<Fmmu Sm="3">Inputs</Fmmu>
				<Sm Enable="1" StartAddress="#x1000" ControlByte="#x26" DefaultSize="64" MinSize="6" MaxSize="128">MBoxOut</Sm>
				<Sm Enable="1" StartAddress="#x1100" ControlByte="#x22" DefaultSize="64" MinSize="6" MaxSize="128">MBoxIn</Sm>
				<Sm Enable="1" StartAddress="#x1200" ControlByte="#x64" MaxSize="100">Outputs</Sm>
				<Sm Enable="1" StartAddress="#x1400" ControlByte="#x20" MaxSize="100">Inputs</Sm>
				<RxPdo Fixed="0" Sm="2">
					<Index>#x1600</Index>
					<Name>Receive PDO 1</Name>
					<Exclude>#x1601</Exclude>
					<Exclude>#x1602</Exclude>
					<Exclude>#x1603</Exclude>
					<Entry>
						<Index>#x6040</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Control Word</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x607A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Profile Target Position</Name>
						<DataType>DINT</DataType>
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					<Entry>
						<Index>#x60B8</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Function</Name>
						<DataType>UINT</DataType>
					</Entry>
					<!--CSP-->
				</RxPdo>
				<RxPdo Fixed="0">
					<Index>#x1601</Index>
					<Name>Receive PDO 2</Name>
					<Exclude>#x1600</Exclude>
					<Exclude>#x1602</Exclude>
					<Exclude>#x1603</Exclude>
					<Entry>
						<Index>#x6040</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Control word</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x607A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Profile Target Position</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6081</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Profile Velocity</Name>
						<DataType>UDINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6083</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Profile Target Acceleration</Name>
						<DataType>UDINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6084</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Profile Target Deceleration</Name>
						<DataType>UDINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of Operation</Name>
						<DataType>USINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="0">
					<Index>#x1602</Index>
					<Name>Receive PDO 3</Name>
					<Exclude>#x1600</Exclude>
					<Exclude>#x1601</Exclude>
					<Exclude>#x1603</Exclude>
					<Entry>
						<Index>#x6040</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Control Word</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60FF</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target Velocity</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6083</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Profile Acceleration</Name>
						<DataType>UDINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6084</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Profile Deceleration</Name>
						<DataType>UDINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of Operation</Name>
						<DataType>USINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="0">
					<Index>#x1603</Index>
					<Name>Receive PDO 4</Name>
					<Exclude>#x1600</Exclude>
					<Exclude>#x1601</Exclude>
					<Exclude>#x1602</Exclude>
					<Entry>
						<Index>#x6040</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Control Word</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6098</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Homing Method</Name>
						<DataType>SINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6099</Index>
						<SubIndex>1</SubIndex>
						<BitLen>32</BitLen>
						<Name>Homing Velocity (fast)</Name>
						<DataType>UDINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6099</Index>
						<SubIndex>2</SubIndex>
						<BitLen>32</BitLen>
						<Name>Homing Velocity (slow)</Name>
						<DataType>UDINT</DataType>
					</Entry>
					<Entry>
						<Index>#x609A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Homing Acceleration</Name>
						<DataType>UDINT</DataType>
					</Entry>
					<Entry>
						<Index>#x607C</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Homing Offset</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of Operation</Name>
						<DataType>USINT</DataType>
					</Entry>
				</RxPdo>
				<TxPdo Fixed="0" Sm="3">
					<Index>#x1a00</Index>
					<Name>Transmit PDO 1</Name>
					<Exclude>#x1A01</Exclude>
					<Entry>
						<Index>#x603F</Index>
						<SubIndex>#x00</SubIndex>
						<BitLen>16</BitLen>
						<Name>Last Error Code</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6041</Index>
						<SubIndex>#x00</SubIndex>
						<BitLen>16</BitLen>
						<Name>Status Word</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6061</Index>
						<SubIndex>#x00</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of Operation display</Name>
						<DataType>SINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6064</Index>
						<SubIndex>#x00</SubIndex>
						<BitLen>32</BitLen>
						<Name>Position Actual Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60B9</Index>
						<SubIndex>#x00</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Status</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BA</Index>
						<SubIndex>#x00</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe 1 Positive Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60FD</Index>
						<SubIndex>#x00</SubIndex>
						<BitLen>32</BitLen>
						<Name>Digital Inputs</Name>
						<DataType>UDINT</DataType>
					</Entry>
					<!--ALL MODE-->
				</TxPdo>
				<TxPdo Fixed="0">
					<Index>#x1a01</Index>
					<Name>Transmit PDO 2</Name>
					<Exclude>#x1A00</Exclude>
				</TxPdo>
				<Mailbox DataLinkLayer="1">
					<CoE SdoInfo="false" PdoUpload="false" PdoAssign="true" PdoConfig="true" SegmentedSdo="false" CompleteAccess="false" DiagHistory="false">
						<InitCmd>
							<Transition>PS</Transition>
							<Index>#x6060</Index>
							<SubIndex>0</SubIndex>
							<Data>08</Data>
							<Comment>Modes of Operation</Comment>
							<!--CSP-->
						</InitCmd>
					</CoE>
				</Mailbox>
				<Dc>
					<OpMode>
						<Name>DC</Name>
						<Desc>DC-Synchron</Desc>
						<AssignActivate>#x0300</AssignActivate>
						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
						<ShiftTimeSync0>0</ShiftTimeSync0>
					</OpMode>
					<OpMode>
						<Name>Free Run</Name>
						<Desc>Free-Run</Desc>
						<AssignActivate>#x0000</AssignActivate>
					</OpMode>
				</Dc>
				<Eeprom>
					<ByteSize>2048</ByteSize>
					<ConfigData>003c0000640000000000</ConfigData>
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				<Comment LcId="1033">80VDC/7.0A Stepper Drive</Comment>
				<Comment LcId="2052">80VDC/7.0A 步进驱动器</Comment>
				<URL LcId="1033">http://www.leadshine.com</URL>
				<URL LcId="2052">http://www.leisai.com</URL>
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										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>RPDO 4 Mapping Information 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>RPDO 4 Mapping Information 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>RPDO 4 Mapping Information 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>RPDO 4 Mapping Information 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>RPDO 4 Mapping Information 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>RPDO 4 Mapping Information 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>RPDO 4 Mapping Information 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A00</Name>
								<BitSize>272</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>TPDO 1 Mapping Information 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>TPDO 1 Mapping Information 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>TPDO 1 Mapping Information 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>TPDO 1 Mapping Information 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>TPDO 1 Mapping Information 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>TPDO 1 Mapping Information 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>TPDO 1 Mapping Information 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>TPDO 1 Mapping Information 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A01</Name>
								<BitSize>272</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>TPDO 2 Mapping Information 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>TPDO 2 Mapping Information 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>TPDO 2 Mapping Information 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>TPDO 2 Mapping Information 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>TPDO 2 Mapping Information 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>TPDO 2 Mapping Information 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>TPDO 2 Mapping Information 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>TPDO 2 Mapping Information 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C00</Name>
								<BitSize>48</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>
									<SubIdx>1</SubIdx>
									<Name>Comm. Type, Sync Manager 0</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Comm. Type, Sync Manager 1</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>24</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Comm. Type, Sync Manager 2</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Comm. Type, Sync Manager 3</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>40</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C12</Name>
								<BitSize>80</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 2</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 3</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C13</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 3, PDO Mapping 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 3, PDO Mapping 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C32</Name>
								<BitSize>480</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>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 2, Synchronization type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 2, Cycle time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Sync Manager 2, Shift time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Sync Manager 2, Sync types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Sync Manager 2, Minimum cycle time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Sync Manager 2, Calc and copy time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Sync Manager 2, Minimum hardware delay</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Sync Manager 2,Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Sync Manager 2, Hardware delay time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync Manager 2, Sync0 cycle time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Sync Manager 2, SM-Event missed Counter</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Sync Manager 2, Cycle Time Too Small Counter</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>13</SubIdx>
									<Name>Sync Manager 2, Shift Time Too Short Counter</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>320</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>14</SubIdx>
									<Name>Sync Manager 2, RxPDO Toggle Failed Count</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>15</SubIdx>
									<Name>Sync Manager 2, Minimum cycle distance</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>352</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>16</SubIdx>
									<Name>Sync Manager 2, Maximum cycle distance</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>384</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>17</SubIdx>
									<Name>Sync Manager 2, Minimum SM SYNC distance</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>416</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>18</SubIdx>
									<Name>Sync Manager 2, Maximum SM SYNC distance</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>448</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C33</Name>
								<BitSize>320</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>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 3, Synchronization type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 3, Cycle time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Sync Manager 3, Shift time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Sync Manager 3, Sync types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Sync Manager 3, Minimum cycle time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Sync Manager 3, Calc and copy time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Sync Manager 3, Minimum hardware delay</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Sync Manager 3,Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Sync Manager 3, Hardware delay time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync Manager 3, Sync0 cycle time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Sync Manager 3, SM-Event missed Counter</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Sync Manager 3, Cycle Time Too Small Counter</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2010</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>
									<SubIdx>1</SubIdx>
									<Name>FIR Filter Time</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>IIR Filter Time</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2019</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>
									<SubIdx>1</SubIdx>
									<Name>Reached Pulse Compensate</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Disable Reached Mode</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT201A</Name>
								<BitSize>144</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>
									<SubIdx>1</SubIdx>
									<Name>Power On Enable Current percentage</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Open Loop Standby Current percentage</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Close Loop Standby Current percentage</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Turn Off Voltage percentage</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2025</Name>
								<BitSize>176</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>
									<SubIdx>1</SubIdx>
									<Name>Open to Close Mode Speed Level</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Open to Close Mode Delay</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Close to Open Mode Speed Level</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Close to Open Mode Delay</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Close to Open Mode Actual Speed Level</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2081</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>
									<SubIdx>1</SubIdx>
									<Name>Weak Magnetic Coefficient 1</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Weak Magnetic Coefficient 2</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2090</Name>
								<BitSize>176</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>
									<SubIdx>1</SubIdx>
									<Name>Current Loop Gain</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Current Loop Integral</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Current Loop Saturation Time Constant</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Current Loop Gain Ratio</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Torque Feedforward</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2091</Name>
								<BitSize>240</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>
									<SubIdx>1</SubIdx>
									<Name>Speed Loop Gain</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Speed Loop Integral</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Speed Loop Gain 2</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Speed Loop Integral Limit</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Speed Loop Filter Setting</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Speed Loop Sample Filter Setting</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Velocity Feedforward</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2092</Name>
								<BitSize>112</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>
									<SubIdx>1</SubIdx>
									<Name>Position Loop Gain</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Position Loop Gain 2</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Position Loop Filter Setting</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2152</Name>
								<BitSize>208</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>
									<SubIdx>1</SubIdx>
									<Name>Input 1 Function</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Input 2 Function</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Input 3 Function</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Input 4 Function</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Input 5 Function</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Input 6 Function</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2156</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>
									<SubIdx>1</SubIdx>
									<Name>Output 1 Function</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Output 2 Function</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT3100</Name>
								<BitSize>64</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>
									<SubIdx>1</SubIdx>
									<Name>Driver Software Version</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>FPGA Software Version</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Slave Stack Software Version</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT3FFE</Name>
								<BitSize>240</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>
									<SubIdx>1</SubIdx>
									<Name>Fault Record 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Fault Record 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Fault Record 2</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Fault Record 3</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Fault Record 4</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Fault Record 5</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Fault Record 6</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Fault Record 7</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>128</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Fault Record 8</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Fault Record 9</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>160</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Fault Record 10</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Fault Record 11</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>192</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>13</SubIdx>
									<Name>Fault Record 12</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>14</SubIdx>
									<Name>Fault Record 13</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>214</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT4000</Name>
								<BitSize>144</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>
									<SubIdx>1</SubIdx>
									<Name>Motor Type</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Motor Resistance</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Motor Inductance</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Motor Back EMF Coefficient</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT4003</Name>
								<BitSize>112</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>
									<SubIdx>1</SubIdx>
									<Name>Break Lock Delay Time</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Break Release Delay Time</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Break Release Speed</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT4005</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>
									<SubIdx>1</SubIdx>
									<Name>Regenerative Resistance Circuit Enable</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Regenerative Resistance Circuit Turn On Voltage</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT5000</Name>
								<BitSize>128</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>
									<SubIdx>1</SubIdx>
									<Name>Trajectory Generator Status</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Motion State Machine</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Interior Enable Status</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Target Reached Status</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Internal Response Status</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>EEPROM Status</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Special Status</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT5002</Name>
								<BitSize>48</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>
									<SubIdx>1</SubIdx>
									<Name>Register Address</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Register Data</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT5004</Name>
								<BitSize>272</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>
									<SubIdx>1</SubIdx>
									<Name>Outputs Size</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Inputs Size</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>RPDO Count</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>TPDO Count</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Sync0 Watch Dog Counter</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Sync0 Watch Dog Counter Internal</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Sync0 Watch Value</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Sync0 Drift Counter</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>128</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Sync0 Drift Value</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>SM Watch Dog Counter Internal</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>160</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>SM Watch Dog Value Internal</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>SM Sync0 Watch Dog Counter</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>13</SubIdx>
									<Name>SM Sync0 Watch Dog Value</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>192</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>14</SubIdx>
									<Name>Sync0 Ratio</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>15</SubIdx>
									<Name>Sync Function Setting</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>16</SubIdx>
									<Name>Sync0 Interval</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT5012</Name>
								<BitSize>128</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>
									<SubIdx>1</SubIdx>
									<Name>Home Reached Position</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Home Triggered Position</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Home IO Simulator</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Home Setting</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Home Speed Limit</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT5015</Name>
								<BitSize>192</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>
									<SubIdx>1</SubIdx>
									<Name>Internal Command Position</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Internal Command Velocity</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Internal Command Torque</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Internal Reserve 1</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Profile Mode Setting 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>128</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Profile Mode Setting 2</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Internal Reserve 2</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>160</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Internal Reserve 3</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT5400</Name>
								<BitSize>48</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>
									<SubIdx>1</SubIdx>
									<Name>DC Period Minimux Value</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>DC Period Maximux Value</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT5500</Name>
								<BitSize>336</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>
									<SubIdx>1</SubIdx>
									<Name>Number of Turns of Absolute Encoder</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Single Turn Position of Absolute Encoder</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Low Position of Absolute Encoder</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>High Position of Absolute Encoder</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Low Mechanical Position</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>High Mechanical Position</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Encoder Communication Error  Counter</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Manufacture Reserve High </Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Manufacture Use Low </Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Manufacture Use High </Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT5501</Name>
								<BitSize>272</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>
									<SubIdx>1</SubIdx>
									<Name>Actual Motor Speed</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Command Speed</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Speed Command</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Actual Torque</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Command Torque</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Relative Position Error</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Internal Position Command</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>128</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Overload Rate</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>160</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Regenrative Resistance Load Ratio</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Inertia Ratio</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>192</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Positive Actual Torque Limit</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Negative Actual Torque Limit</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>13</SubIdx>
									<Name>U Phase Actual Current</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>14</SubIdx>
									<Name>V Phase Actual Current</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT5502</Name>
								<BitSize>144</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>
									<SubIdx>1</SubIdx>
									<Name>Digital Input Level</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Digital Output Level</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Analog Input 1 Level</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Analog Input 2 Level</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>DC Link Circuit Voltage</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>IPM Temperature</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Operation Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>116</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT607D</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>
									<SubIdx>1</SubIdx>
									<Name>Negative software limit position</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Positive software limit position</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT608F</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>
									<SubIdx>1</SubIdx>
									<Name>Encoder increments</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Motor revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6091</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>
									<SubIdx>1</SubIdx>
									<Name>Motor revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Shaft revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6092</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>
									<SubIdx>1</SubIdx>
									<Name>Feed increments</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Shaft revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
							</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>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Homing Velocity (fast)</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Homing Velocity (slow)</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT60A4</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>
									<SubIdx>1</SubIdx>
									<Name>Profile Jerk 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Profile Jerk 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT60C1</Name>
								<BitSize>88</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>
									<SubIdx>1</SubIdx>
									<Name>Interpolated position value</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Interpolated time value</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Interpolated velocity value</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>56</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT60C2</Name>
								<BitSize>32</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>
									<SubIdx>1</SubIdx>
									<Name>Interpolation Time Value</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Interpolation Time Units</Name>
									<Type>SINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>24</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT60FE</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>
									<SubIdx>1</SubIdx>
									<Name>Physical Outputs</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Bit Mask</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
						</DataTypes>
						<Objects>
							<Object>
								<Index>#x1000</Index>
								<Name>Device Type</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1001</Index>
								<Name>Error Register</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x1008</Index>
								<Name>Device Name</Name>
								<Type>STRING(7)</Type>
								<BitSize>56</BitSize>
								<Info/>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1009</Index>
								<Name>Hardware Version</Name>
								<Type>STRING(5)</Type>
								<BitSize>40</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x100A</Index>
								<Name>Software Version</Name>
								<Type>STRING(5)</Type>
								<BitSize>40</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1010</Index>
								<Name>Store Parameters</Name>
								<Type>DT1010</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1011</Index>
								<Name>Restore Parameters</Name>
								<Type>DT1011</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1018</Index>
								<Name>Identity Object</Name>
								<Type>DT1018</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x10F1</Index>
								<Name>Error Settings</Name>
								<Type>DT10F1</Type>
								<BitSize>64</BitSize>
							</Object>
							<Object>
								<Index>#x1600</Index>
								<Name>RXPDO 1 Mapping Parameter</Name>
								<Type>DT1600</Type>
								<BitSize>272</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1601</Index>
								<Name>RXPDO 2 Mapping Parameter</Name>
								<Type>DT1601</Type>
								<BitSize>272</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1602</Index>
								<Name>RXPDO 3 Mapping Parameter</Name>
								<Type>DT1602</Type>
								<BitSize>272</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1603</Index>
								<Name>RXPDO 4 Mapping Parameter</Name>
								<Type>DT1603</Type>
								<BitSize>272</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1A00</Index>
								<Name>TXPDO 1 Mapping Parameter</Name>
								<Type>DT1A00</Type>
								<BitSize>272</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1A01</Index>
								<Name>TXPDO 2 Mapping Parameter</Name>
								<Type>DT1A01</Type>
								<BitSize>272</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1C00</Index>
								<Name>SM Communication Type</Name>
								<Type>DT1C00</Type>
								<BitSize>48</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1C12</Index>
								<Name>SM2(Outputs) PDO Assignment</Name>
								<Type>DT1C12</Type>
								<BitSize>80</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1C13</Index>
								<Name>SM3(Inputs) PDO Assignment</Name>
								<Type>DT1C13</Type>
								<BitSize>48</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1C32</Index>
								<Name>Output Sync Manager Parameter</Name>
								<Type>DT1C32</Type>
								<BitSize>480</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1C33</Index>
								<Name>Input Sync Manager Parameter</Name>
								<Type>DT1C33</Type>
								<BitSize>320</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x2000</Index>
								<Name>Peak Current</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2001</Index>
								<Name>Motor Resolution</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2010</Index>
								<Name>Filter Time</Name>
								<Type>DT2010</Type>
								<BitSize>80</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2012</Index>
								<Name>Soft Start Time</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2013</Index>
								<Name>Auto-tune Enable</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2018</Index>
								<Name>Power On Delay</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2019</Index>
								<Name>Reached Setting</Name>
								<Type>DT2019</Type>
								<BitSize>80</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x201A</Index>
								<Name>Percentage Parameters</Name>
								<Type>DT201A</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x201B</Index>
								<Name>Lock Axis Time When Power On</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x201C</Index>
								<Name>Maximum Stop Time</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x201D</Index>
								<Name>Zero Speed Threshold</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2030</Index>
								<Name>Position Loop Control Effort Limit</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2047</Index>
								<Name>Over Voltage Level</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2056</Index>
								<Name>Fault Detect Configure</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2073</Index>
								<Name>Motor Return After Power On</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2090</Index>
								<Name>Current Loop Parameters</Name>
								<Type>DT2090</Type>
								<BitSize>176</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x214A</Index>
								<Name>Slave ID Selector Data</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x214B</Index>
								<Name>HMI Display Select</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2150</Index>
								<Name>Slave Alias</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2151</Index>
								<Name>Slave Alias Source</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2152</Index>
								<Name>Inputs Function</Name>
								<Type>DT2152</Type>
								<BitSize>208</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2155</Index>
								<Name>Physical Inputs Level</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2156</Index>
								<Name>Outputs Function</Name>
								<Type>DT2156</Type>
								<BitSize>80</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x225C</Index>
								<Name>Special Function Register </Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x22A9</Index>
								<Name>Limit Switch Option Code</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x22B4</Index>
								<Name>E-stop Input Option Code</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x3100</Index>
								<Name>Firmware Version</Name>
								<Type>DT3100</Type>
								<BitSize>48</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x3FFE</Index>
								<Name>Fault Record</Name>
								<Type>DT3FFE</Type>
								<BitSize>240</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x4000</Index>
								<Name>Motor Parameters</Name>
								<Type>DT4000</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x4003</Index>
								<Name>Motor Break Parameters</Name>
								<Type>DT4003</Type>
								<BitSize>112</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x4005</Index>
								<Name>Regenerative Resistance Parameters</Name>
								<Type>DT4005</Type>
								<BitSize>80</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x4500</Index>
								<Name>Current Error ID</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x5000</Index>
								<Name>Internal States</Name>
								<Type>DT5000</Type>
								<BitSize>128</BitSize>
							</Object>
							<Object>
								<Index>#x5002</Index>
								<Name>ESC Register Interface</Name>
								<Type>DT5002</Type>
								<BitSize>48</BitSize>
							</Object>
							<Object>
								<Index>#x5004</Index>
								<Name>Sync Interface Parameters</Name>
								<Type>DT5004</Type>
								<BitSize>272</BitSize>
							</Object>
							<Object>
								<Index>#x5005</Index>
								<Name>DC Compensate Base Value</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x5006</Index>
								<Name>Sync Error Detect Setting</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x5010</Index>
								<Name>Valid Outputs/Inputs Watch Dog Time</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x5011</Index>
								<Name>Internal Actual Position</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x5012</Index>
								<Name>Home Interface</Name>
								<Type>DT5012</Type>
								<BitSize>128</BitSize>
							</Object>
							<Object>
								<Index>#x5013</Index>
								<Name>Motor Not Work Code</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x5400</Index>
								<Name>DC Period Setting</Name>
								<Type>DT5400</Type>
								<BitSize>80</BitSize>
							</Object>
							<Object>
								<Index>#x5500</Index>
								<Name>Absolute Encoder Monitors</Name>
								<Type>DT5500</Type>
								<BitSize>336</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x5501</Index>
								<Name>Motion Monitors</Name>
								<Type>DT5501</Type>
								<BitSize>336</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x5502</Index>
								<Name>Miscellaneous Monitors</Name>
								<Type>DT5502</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x603f</Index>
								<Name>Last Error Code</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6040</Index>
								<Name>Control Word</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6041</Index>
								<Name>Status Word</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x605A</Index>
								<Name>Quick Stop Option Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x605B</Index>
								<Name>Shutdown option code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x605C</Index>
								<Name>Disable operation option code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x605D</Index>
								<Name>Halt option code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x605E</Index>
								<Name>Fault reaction option code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6060</Index>
								<Name>Modes of Operation</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6061</Index>
								<Name>Modes of Operation Display</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6062</Index>
								<Name>Commanded Position</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6064</Index>
								<Name>Actual Position</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x606B</Index>
								<Name>Commanded Velocity</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x606C</Index>
								<Name>Actual Velocity</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6073</Index>
								<Name>Max Current</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x607A</Index>
								<Name>Profile Target Position</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x607C</Index>
								<Name>Homing Offset</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x607E</Index>
								<Name>Polarity</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x607F</Index>
								<Name>Max Profile velocity</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6080</Index>
								<Name>Max motor speed</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6081</Index>
								<Name>Profile Velocity</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6082</Index>
								<Name>End Velocity</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6083</Index>
								<Name>Profile Acceleration</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6084</Index>
								<Name>Profile Deceleration</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6085</Index>
								<Name>Quick Stop Deceleration</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x608F</Index>
								<Name>Position encoder resolution</Name>
								<Type>DT608F</Type>
								<BitSize>80</BitSize>
							</Object>
							<Object>
								<Index>#x6092</Index>
								<Name>Feed constant</Name>
								<Type>DT6092</Type>
								<BitSize>80</BitSize>
							</Object>
							<Object>
								<Index>#x6098</Index>
								<Name>Homing Method</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6099</Index>
								<Name>Homing Velocity</Name>
								<Type>DT6099</Type>
								<BitSize>80</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x609A</Index>
								<Name>Homing Acceleration</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60B0</Index>
								<Name>Position Offset</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60B8</Index>
								<Name>Touch Probe Function</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60B9</Index>
								<Name>Touch Probe Status</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BA</Index>
								<Name>Touch Probe 1 Positive Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BB</Index>
								<Name>Touch Probe 1 Negative Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BC</Index>
								<Name>Touch Probe 2 Positive Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BD</Index>
								<Name>Touch Probe 2 Negative Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60C2</Index>
								<Name>InterPolation Time Period</Name>
								<Type>DT60C2</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D5</Index>
								<Name>Touch Probe 1 Positive Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D6</Index>
								<Name>Touch Probe 1 Negative Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D7</Index>
								<Name>Touch Probe 2 Positive Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D8</Index>
								<Name>Touch Probe 2 Negative Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60FD</Index>
								<Name>Digital Inputs</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60FE</Index>
								<Name>Digital Outputs</Name>
								<Type>DT60FE</Type>
								<BitSize>72</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60FF</Index>
								<Name>Target Velocity</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6502</Index>
								<Name>Supported Drive Modes</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
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					</Dictionary>
				</Profile>
				<Fmmu>MBoxState</Fmmu>
				<Fmmu Sm="2">Outputs</Fmmu>
				<Fmmu Sm="3">Inputs</Fmmu>
				<Sm Enable="1" StartAddress="#x1000" ControlByte="#x26" DefaultSize="64" MinSize="6" MaxSize="128">MBoxOut</Sm>
				<Sm Enable="1" StartAddress="#x1100" ControlByte="#x22" DefaultSize="64" MinSize="6" MaxSize="128">MBoxIn</Sm>
				<Sm Enable="1" StartAddress="#x1200" ControlByte="#x64" MaxSize="100">Outputs</Sm>
				<Sm Enable="1" StartAddress="#x1400" ControlByte="#x20" MaxSize="100">Inputs</Sm>
				<RxPdo Fixed="0" Sm="2">
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					<Name>Receive PDO 1</Name>
					<Exclude>#x1601</Exclude>
					<Exclude>#x1602</Exclude>
					<Exclude>#x1603</Exclude>
					<Entry>
						<Index>#x6040</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Control Word</Name>
						<DataType>UINT</DataType>
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					<Entry>
						<Index>#x607A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Profile Target Position</Name>
						<DataType>DINT</DataType>
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					<Entry>
						<Index>#x60B8</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Function</Name>
						<DataType>UINT</DataType>
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					<!--CSP-->
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					<Name>Receive PDO 2</Name>
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					<Exclude>#x1602</Exclude>
					<Exclude>#x1603</Exclude>
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					<Entry>
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					<Entry>
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						<Name>Profile Velocity</Name>
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					<Entry>
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						<Name>Profile Target Acceleration</Name>
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					<Entry>
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						<Name>Profile Target Deceleration</Name>
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					<Entry>
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						<Index>#x6040</Index>
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					<Entry>
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						<Name>Homing Velocity (slow)</Name>
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					<Entry>
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						<Name>Homing Acceleration</Name>
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					<Entry>
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					<Entry>
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					<Entry>
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					<Entry>
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						<Name>Touch Probe Status</Name>
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					<Entry>
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					<Entry>
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						<Name>Digital Inputs</Name>
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					<!--ALL MODE-->
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							<!--CSP-->
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					<ByteSize>2048</ByteSize>
					<ConfigData>003c0000640000000000</ConfigData>
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			<Device Physics="YY">
				<Type ProductCode="#x8800" RevisionNo="#x0001">DM3C-EC522</Type>
				<Name LcId="1033"><![CDATA[DM3C-EC522(COE)]]></Name>
				<Comment LcId="1033">50VDC/2.2A Stepper Drive</Comment>
				<Comment LcId="2052">50VDC/2.2A 步进驱动器</Comment>
				<URL LcId="1033">http://www.leadshine.com</URL>
				<URL LcId="2052">http://www.leisai.com</URL>
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						<Timeout>
							<PreopTimeout>2000</PreopTimeout>
							<SafeopOpTimeout>9000</SafeopOpTimeout>
							<BackToInitTimeout>5000</BackToInitTimeout>
							<BackToSafeopTimeout>200</BackToSafeopTimeout>
						</Timeout>
						<Behavior StartToSafeopNoSync="true"/>
					</StateMachine>
					<Mailbox>
						<Timeout>
							<RequestTimeout>100</RequestTimeout>
							<ResponseTimeout>5000</ResponseTimeout>
						</Timeout>
					</Mailbox>
					<IdentificationReg134>false</IdentificationReg134>
				</Info>
				<GroupType>Stepper Drive</GroupType>
				<Profile>
					<ChannelInfo>
						<ProfileNo>402</ProfileNo>
					</ChannelInfo>
					<Dictionary>
						<DataTypes>
							<DataType>
								<Name>SINT</Name>
								<!--Signed short integer-->
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<Name>USINT</Name>
								<!--Unsigned short integer-->
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<Name>INT</Name>
								<!--Signed integer-->
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<Name>UINT</Name>
								<!--Unsigned integer-->
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<Name>DINT</Name>
								<!--Signed double integer-->
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<Name>UDINT</Name>
								<!--Unsigned double integer-->
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<Name>LINT</Name>
								<!--Signed 64-bit integer-->
								<BitSize>64</BitSize>
							</DataType>
							<DataType>
								<Name>ULINT</Name>
								<!--Unsigned 64-bit integer-->
								<BitSize>64</BitSize>
							</DataType>
							<DataType>
								<Name>STRING(25)</Name>
								<BitSize>200</BitSize>
							</DataType>
							<DataType>
								<Name>STRING(7)</Name>
								<BitSize>56</BitSize>
							</DataType>
							<DataType>
								<Name>STRING(5)</Name>
								<BitSize>40</BitSize>
							</DataType>
							<DataType>
								<Name>STRING(20)</Name>
								<BitSize>160</BitSize>
							</DataType>
							<DataType>
								<Name>STRING(40)</Name>
								<BitSize>320</BitSize>
							</DataType>
							<DataType>
								<Name>STRING(136)</Name>
								<BitSize>1088</BitSize>
							</DataType>
							<DataType>
								<Name>ARRAY [0..4] OF UINT</Name>
								<BaseType>UINT</BaseType>
								<!--Trajectory segment-->
								<BitSize>80</BitSize>
								<ArrayInfo>
									<LBound>0</LBound>
									<Elements>5</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>ARRAY [0..13] OF UINT</Name>
								<BaseType>UINT</BaseType>
								<!--Bi-quad filter coefficients-->
								<BitSize>224</BitSize>
								<ArrayInfo>
									<LBound>0</LBound>
									<Elements>14</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>ARRAY [0..15] OF UINT</Name>
								<BaseType>UINT</BaseType>
								<!--I/O extension data-->
								<BitSize>256</BitSize>
								<ArrayInfo>
									<LBound>0</LBound>
									<Elements>16</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>ARRAY [0..2] OF UINT</Name>
								<BaseType>UINT</BaseType>
								<!--Trace Trigger Config-->
								<BitSize>48</BitSize>
								<ArrayInfo>
									<LBound>0</LBound>
									<Elements>3</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>ARRAY [0..23] OF UINT</Name>
								<BaseType>UINT</BaseType>
								<!--Input shaping filter-->
								<BitSize>384</BitSize>
								<ArrayInfo>
									<LBound>0</LBound>
									<Elements>24</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>ARRAY [0..16383] OF UINT</Name>
								<BaseType>UINT</BaseType>
								<!--Variable length data set-->
								<BitSize>262144</BitSize>
								<ArrayInfo>
									<LBound>0</LBound>
									<Elements>16384</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>DT1010</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Save all parameters</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Save communication parameters</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Save application parameters</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Save manufacturer parameters</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1011</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Restore all default parameters</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Restore communication default parameters</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Restore application default parameters</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Restore manufacturer default parameters</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</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>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Vendor ID</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Product Code</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Revision Number</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Serial Number</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT10F1</Name>
								<BitSize>64</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>
									<SubIdx>1</SubIdx>
									<Name>Local Error Reaction</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Error Counter Limit</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1600</Name>
								<BitSize>272</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>RPDO 1 Mapping Information 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>RPDO 1 Mapping Information 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>RPDO 1 Mapping Information 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>RPDO 1 Mapping Information 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>RPDO 1 Mapping Information 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>RPDO 1 Mapping Information 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>RPDO 1 Mapping Information 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>RPDO 1 Mapping Information 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1601</Name>
								<BitSize>272</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>RPDO 2 Mapping Information 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>RPDO 2 Mapping Information 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>RPDO 2 Mapping Information 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>RPDO 2 Mapping Information 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>RPDO 2 Mapping Information 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>RPDO 2 Mapping Information 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>RPDO 2 Mapping Information 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>RPDO 2 Mapping Information 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1602</Name>
								<BitSize>272</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>RPDO 3 Mapping Information 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>RPDO 3 Mapping Information 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>RPDO 3 Mapping Information 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>RPDO 3 Mapping Information 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>RPDO 3 Mapping Information 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>RPDO 3 Mapping Information 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>RPDO 3 Mapping Information 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>RPDO 3 Mapping Information 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1603</Name>
								<BitSize>272</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>RPDO 4 Mapping Information 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>RPDO 4 Mapping Information 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>RPDO 4 Mapping Information 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>RPDO 4 Mapping Information 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>RPDO 4 Mapping Information 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>RPDO 4 Mapping Information 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>RPDO 4 Mapping Information 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>RPDO 4 Mapping Information 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A00</Name>
								<BitSize>272</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>TPDO 1 Mapping Information 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>TPDO 1 Mapping Information 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>TPDO 1 Mapping Information 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>TPDO 1 Mapping Information 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>TPDO 1 Mapping Information 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>TPDO 1 Mapping Information 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>TPDO 1 Mapping Information 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>TPDO 1 Mapping Information 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A01</Name>
								<BitSize>272</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>TPDO 2 Mapping Information 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>TPDO 2 Mapping Information 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>TPDO 2 Mapping Information 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>TPDO 2 Mapping Information 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>TPDO 2 Mapping Information 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>TPDO 2 Mapping Information 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>TPDO 2 Mapping Information 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>TPDO 2 Mapping Information 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C00</Name>
								<BitSize>48</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>
									<SubIdx>1</SubIdx>
									<Name>Comm. Type, Sync Manager 0</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Comm. Type, Sync Manager 1</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>24</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Comm. Type, Sync Manager 2</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Comm. Type, Sync Manager 3</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>40</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C12</Name>
								<BitSize>80</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 2</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 3</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C13</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 3, PDO Mapping 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 3, PDO Mapping 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C32</Name>
								<BitSize>480</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>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 2, Synchronization type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 2, Cycle time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Sync Manager 2, Shift time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Sync Manager 2, Sync types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Sync Manager 2, Minimum cycle time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Sync Manager 2, Calc and copy time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Sync Manager 2, Minimum hardware delay</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Sync Manager 2,Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Sync Manager 2, Hardware delay time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync Manager 2, Sync0 cycle time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Sync Manager 2, SM-Event missed Counter</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Sync Manager 2, Cycle Time Too Small Counter</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>13</SubIdx>
									<Name>Sync Manager 2, Shift Time Too Short Counter</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>320</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>14</SubIdx>
									<Name>Sync Manager 2, RxPDO Toggle Failed Count</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>15</SubIdx>
									<Name>Sync Manager 2, Minimum cycle distance</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>352</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>16</SubIdx>
									<Name>Sync Manager 2, Maximum cycle distance</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>384</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>17</SubIdx>
									<Name>Sync Manager 2, Minimum SM SYNC distance</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>416</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>18</SubIdx>
									<Name>Sync Manager 2, Maximum SM SYNC distance</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>448</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C33</Name>
								<BitSize>320</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>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 3, Synchronization type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 3, Cycle time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Sync Manager 3, Shift time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Sync Manager 3, Sync types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Sync Manager 3, Minimum cycle time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Sync Manager 3, Calc and copy time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Sync Manager 3, Minimum hardware delay</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Sync Manager 3,Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Sync Manager 3, Hardware delay time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync Manager 3, Sync0 cycle time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Sync Manager 3, SM-Event missed Counter</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Sync Manager 3, Cycle Time Too Small Counter</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2010</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>
									<SubIdx>1</SubIdx>
									<Name>FIR Filter Time</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>IIR Filter Time</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2019</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>
									<SubIdx>1</SubIdx>
									<Name>Reached Pulse Compensate</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Disable Reached Mode</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT201A</Name>
								<BitSize>144</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>
									<SubIdx>1</SubIdx>
									<Name>Power On Enable Current percentage</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Open Loop Standby Current percentage</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Close Loop Standby Current percentage</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Turn Off Voltage percentage</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2025</Name>
								<BitSize>176</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>
									<SubIdx>1</SubIdx>
									<Name>Open to Close Mode Speed Level</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Open to Close Mode Delay</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Close to Open Mode Speed Level</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Close to Open Mode Delay</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Close to Open Mode Actual Speed Level</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2081</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>
									<SubIdx>1</SubIdx>
									<Name>Weak Magnetic Coefficient 1</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Weak Magnetic Coefficient 2</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2090</Name>
								<BitSize>176</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>
									<SubIdx>1</SubIdx>
									<Name>Current Loop Gain</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Current Loop Integral</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Current Loop Saturation Time Constant</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Current Loop Gain Ratio</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Torque Feedforward</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2091</Name>
								<BitSize>240</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>
									<SubIdx>1</SubIdx>
									<Name>Speed Loop Gain</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Speed Loop Integral</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Speed Loop Gain 2</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Speed Loop Integral Limit</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Speed Loop Filter Setting</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Speed Loop Sample Filter Setting</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Velocity Feedforward</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2092</Name>
								<BitSize>112</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>
									<SubIdx>1</SubIdx>
									<Name>Position Loop Gain</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Position Loop Gain 2</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Position Loop Filter Setting</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2152</Name>
								<BitSize>208</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>
									<SubIdx>1</SubIdx>
									<Name>Input 1 Function</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Input 2 Function</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Input 3 Function</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Input 4 Function</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Input 5 Function</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Input 6 Function</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2156</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>
									<SubIdx>1</SubIdx>
									<Name>Output 1 Function</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Output 2 Function</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT3100</Name>
								<BitSize>64</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>
									<SubIdx>1</SubIdx>
									<Name>Driver Software Version</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>FPGA Software Version</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Slave Stack Software Version</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT3FFE</Name>
								<BitSize>240</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>
									<SubIdx>1</SubIdx>
									<Name>Fault Record 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Fault Record 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Fault Record 2</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Fault Record 3</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Fault Record 4</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Fault Record 5</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Fault Record 6</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Fault Record 7</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>128</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Fault Record 8</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Fault Record 9</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>160</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Fault Record 10</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Fault Record 11</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>192</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>13</SubIdx>
									<Name>Fault Record 12</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>14</SubIdx>
									<Name>Fault Record 13</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>214</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT4000</Name>
								<BitSize>144</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>
									<SubIdx>1</SubIdx>
									<Name>Motor Type</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Motor Resistance</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Motor Inductance</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Motor Back EMF Coefficient</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT4003</Name>
								<BitSize>112</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>
									<SubIdx>1</SubIdx>
									<Name>Break Lock Delay Time</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Break Release Delay Time</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Break Release Speed</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT4005</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>
									<SubIdx>1</SubIdx>
									<Name>Regenerative Resistance Circuit Enable</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Regenerative Resistance Circuit Turn On Voltage</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT5000</Name>
								<BitSize>128</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>
									<SubIdx>1</SubIdx>
									<Name>Trajectory Generator Status</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Motion State Machine</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Interior Enable Status</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Target Reached Status</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Internal Response Status</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>EEPROM Status</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Special Status</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT5002</Name>
								<BitSize>48</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>
									<SubIdx>1</SubIdx>
									<Name>Register Address</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Register Data</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT5004</Name>
								<BitSize>272</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>
									<SubIdx>1</SubIdx>
									<Name>Outputs Size</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Inputs Size</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>RPDO Count</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>TPDO Count</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Sync0 Watch Dog Counter</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Sync0 Watch Dog Counter Internal</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Sync0 Watch Value</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Sync0 Drift Counter</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>128</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Sync0 Drift Value</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>SM Watch Dog Counter Internal</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>160</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>SM Watch Dog Value Internal</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>SM Sync0 Watch Dog Counter</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>13</SubIdx>
									<Name>SM Sync0 Watch Dog Value</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>192</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>14</SubIdx>
									<Name>Sync0 Ratio</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>15</SubIdx>
									<Name>Sync Function Setting</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>16</SubIdx>
									<Name>Sync0 Interval</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT5012</Name>
								<BitSize>128</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>
									<SubIdx>1</SubIdx>
									<Name>Home Reached Position</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Home Triggered Position</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Home IO Simulator</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Home Setting</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Home Speed Limit</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT5015</Name>
								<BitSize>192</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>
									<SubIdx>1</SubIdx>
									<Name>Internal Command Position</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Internal Command Velocity</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Internal Command Torque</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Internal Reserve 1</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Profile Mode Setting 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>128</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Profile Mode Setting 2</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Internal Reserve 2</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>160</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Internal Reserve 3</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT5400</Name>
								<BitSize>48</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>
									<SubIdx>1</SubIdx>
									<Name>DC Period Minimux Value</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>DC Period Maximux Value</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT5500</Name>
								<BitSize>336</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>
									<SubIdx>1</SubIdx>
									<Name>Number of Turns of Absolute Encoder</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Single Turn Position of Absolute Encoder</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Low Position of Absolute Encoder</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>High Position of Absolute Encoder</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Low Mechanical Position</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>High Mechanical Position</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Encoder Communication Error  Counter</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Manufacture Reserve High </Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Manufacture Use Low </Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Manufacture Use High </Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT5501</Name>
								<BitSize>272</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>
									<SubIdx>1</SubIdx>
									<Name>Actual Motor Speed</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Command Speed</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Speed Command</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Actual Torque</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Command Torque</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Relative Position Error</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Internal Position Command</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>128</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Overload Rate</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>160</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Regenrative Resistance Load Ratio</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Inertia Ratio</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>192</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Positive Actual Torque Limit</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Negative Actual Torque Limit</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>13</SubIdx>
									<Name>U Phase Actual Current</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>14</SubIdx>
									<Name>V Phase Actual Current</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT5502</Name>
								<BitSize>144</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>
									<SubIdx>1</SubIdx>
									<Name>Digital Input Level</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Digital Output Level</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Analog Input 1 Level</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Analog Input 2 Level</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>DC Link Circuit Voltage</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>IPM Temperature</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Operation Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>116</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT607D</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>
									<SubIdx>1</SubIdx>
									<Name>Negative software limit position</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Positive software limit position</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT608F</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>
									<SubIdx>1</SubIdx>
									<Name>Encoder increments</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Motor revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6091</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>
									<SubIdx>1</SubIdx>
									<Name>Motor revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Shaft revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6092</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>
									<SubIdx>1</SubIdx>
									<Name>Feed increments</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Shaft revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
							</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>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Homing Velocity (fast)</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
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								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Homing Velocity (slow)</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT60A4</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>
									<SubIdx>1</SubIdx>
									<Name>Profile Jerk 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Profile Jerk 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT60C1</Name>
								<BitSize>88</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>
									<SubIdx>1</SubIdx>
									<Name>Interpolated position value</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
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								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Interpolated time value</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
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								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Interpolated velocity value</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>56</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
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							</DataType>
							<DataType>
								<Name>DT60C2</Name>
								<BitSize>32</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
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										<Access>ro</Access>
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								<SubItem>
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									<Name>Interpolation Time Value</Name>
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									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
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								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Interpolation Time Units</Name>
									<Type>SINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>24</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
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							</DataType>
							<DataType>
								<Name>DT60FE</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>
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								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Physical Outputs</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
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								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Bit Mask</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
						</DataTypes>
						<Objects>
							<Object>
								<Index>#x1000</Index>
								<Name>Device Type</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1001</Index>
								<Name>Error Register</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x1008</Index>
								<Name>Device Name</Name>
								<Type>STRING(7)</Type>
								<BitSize>56</BitSize>
								<Info/>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1009</Index>
								<Name>Hardware Version</Name>
								<Type>STRING(5)</Type>
								<BitSize>40</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x100A</Index>
								<Name>Software Version</Name>
								<Type>STRING(5)</Type>
								<BitSize>40</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1010</Index>
								<Name>Store Parameters</Name>
								<Type>DT1010</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1011</Index>
								<Name>Restore Parameters</Name>
								<Type>DT1011</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1018</Index>
								<Name>Identity Object</Name>
								<Type>DT1018</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x10F1</Index>
								<Name>Error Settings</Name>
								<Type>DT10F1</Type>
								<BitSize>64</BitSize>
							</Object>
							<Object>
								<Index>#x1600</Index>
								<Name>RXPDO 1 Mapping Parameter</Name>
								<Type>DT1600</Type>
								<BitSize>272</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1601</Index>
								<Name>RXPDO 2 Mapping Parameter</Name>
								<Type>DT1601</Type>
								<BitSize>272</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1602</Index>
								<Name>RXPDO 3 Mapping Parameter</Name>
								<Type>DT1602</Type>
								<BitSize>272</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1603</Index>
								<Name>RXPDO 4 Mapping Parameter</Name>
								<Type>DT1603</Type>
								<BitSize>272</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1A00</Index>
								<Name>TXPDO 1 Mapping Parameter</Name>
								<Type>DT1A00</Type>
								<BitSize>272</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1A01</Index>
								<Name>TXPDO 2 Mapping Parameter</Name>
								<Type>DT1A01</Type>
								<BitSize>272</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1C00</Index>
								<Name>SM Communication Type</Name>
								<Type>DT1C00</Type>
								<BitSize>48</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1C12</Index>
								<Name>SM2(Outputs) PDO Assignment</Name>
								<Type>DT1C12</Type>
								<BitSize>80</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1C13</Index>
								<Name>SM3(Inputs) PDO Assignment</Name>
								<Type>DT1C13</Type>
								<BitSize>48</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1C32</Index>
								<Name>Output Sync Manager Parameter</Name>
								<Type>DT1C32</Type>
								<BitSize>480</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1C33</Index>
								<Name>Input Sync Manager Parameter</Name>
								<Type>DT1C33</Type>
								<BitSize>320</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x2000</Index>
								<Name>Peak Current</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2001</Index>
								<Name>Motor Resolution</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2010</Index>
								<Name>Filter Time</Name>
								<Type>DT2010</Type>
								<BitSize>80</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2012</Index>
								<Name>Soft Start Time</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2013</Index>
								<Name>Auto-tune Enable</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2018</Index>
								<Name>Power On Delay</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2019</Index>
								<Name>Reached Setting</Name>
								<Type>DT2019</Type>
								<BitSize>80</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x201A</Index>
								<Name>Percentage Parameters</Name>
								<Type>DT201A</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x201B</Index>
								<Name>Lock Axis Time When Power On</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x201C</Index>
								<Name>Maximum Stop Time</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x201D</Index>
								<Name>Zero Speed Threshold</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2030</Index>
								<Name>Position Loop Control Effort Limit</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2047</Index>
								<Name>Over Voltage Level</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2056</Index>
								<Name>Fault Detect Configure</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2073</Index>
								<Name>Motor Return After Power On</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2090</Index>
								<Name>Current Loop Parameters</Name>
								<Type>DT2090</Type>
								<BitSize>176</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x214A</Index>
								<Name>Slave ID Selector Data</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x214B</Index>
								<Name>HMI Display Select</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2150</Index>
								<Name>Slave Alias</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2151</Index>
								<Name>Slave Alias Source</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2152</Index>
								<Name>Inputs Function</Name>
								<Type>DT2152</Type>
								<BitSize>208</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2155</Index>
								<Name>Physical Inputs Level</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2156</Index>
								<Name>Outputs Function</Name>
								<Type>DT2156</Type>
								<BitSize>80</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x225C</Index>
								<Name>Special Function Register </Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x22A9</Index>
								<Name>Limit Switch Option Code</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x22B4</Index>
								<Name>E-stop Input Option Code</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x3100</Index>
								<Name>Firmware Version</Name>
								<Type>DT3100</Type>
								<BitSize>48</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x3FFE</Index>
								<Name>Fault Record</Name>
								<Type>DT3FFE</Type>
								<BitSize>240</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x4000</Index>
								<Name>Motor Parameters</Name>
								<Type>DT4000</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x4003</Index>
								<Name>Motor Break Parameters</Name>
								<Type>DT4003</Type>
								<BitSize>112</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x4005</Index>
								<Name>Regenerative Resistance Parameters</Name>
								<Type>DT4005</Type>
								<BitSize>80</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x4500</Index>
								<Name>Current Error ID</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x5000</Index>
								<Name>Internal States</Name>
								<Type>DT5000</Type>
								<BitSize>128</BitSize>
							</Object>
							<Object>
								<Index>#x5002</Index>
								<Name>ESC Register Interface</Name>
								<Type>DT5002</Type>
								<BitSize>48</BitSize>
							</Object>
							<Object>
								<Index>#x5004</Index>
								<Name>Sync Interface Parameters</Name>
								<Type>DT5004</Type>
								<BitSize>272</BitSize>
							</Object>
							<Object>
								<Index>#x5005</Index>
								<Name>DC Compensate Base Value</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x5006</Index>
								<Name>Sync Error Detect Setting</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x5010</Index>
								<Name>Valid Outputs/Inputs Watch Dog Time</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x5011</Index>
								<Name>Internal Actual Position</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x5012</Index>
								<Name>Home Interface</Name>
								<Type>DT5012</Type>
								<BitSize>128</BitSize>
							</Object>
							<Object>
								<Index>#x5013</Index>
								<Name>Motor Not Work Code</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x5400</Index>
								<Name>DC Period Setting</Name>
								<Type>DT5400</Type>
								<BitSize>80</BitSize>
							</Object>
							<Object>
								<Index>#x5500</Index>
								<Name>Absolute Encoder Monitors</Name>
								<Type>DT5500</Type>
								<BitSize>336</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x5501</Index>
								<Name>Motion Monitors</Name>
								<Type>DT5501</Type>
								<BitSize>336</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x5502</Index>
								<Name>Miscellaneous Monitors</Name>
								<Type>DT5502</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x603f</Index>
								<Name>Last Error Code</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6040</Index>
								<Name>Control Word</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6041</Index>
								<Name>Status Word</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x605A</Index>
								<Name>Quick Stop Option Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x605B</Index>
								<Name>Shutdown option code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x605C</Index>
								<Name>Disable operation option code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x605D</Index>
								<Name>Halt option code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x605E</Index>
								<Name>Fault reaction option code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6060</Index>
								<Name>Modes of Operation</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6061</Index>
								<Name>Modes of Operation Display</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6062</Index>
								<Name>Commanded Position</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6064</Index>
								<Name>Actual Position</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x606B</Index>
								<Name>Commanded Velocity</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x606C</Index>
								<Name>Actual Velocity</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6073</Index>
								<Name>Max Current</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x607A</Index>
								<Name>Profile Target Position</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x607C</Index>
								<Name>Homing Offset</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x607E</Index>
								<Name>Polarity</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x607F</Index>
								<Name>Max Profile velocity</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6080</Index>
								<Name>Max motor speed</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6081</Index>
								<Name>Profile Velocity</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6082</Index>
								<Name>End Velocity</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6083</Index>
								<Name>Profile Acceleration</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6084</Index>
								<Name>Profile Deceleration</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6085</Index>
								<Name>Quick Stop Deceleration</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x608F</Index>
								<Name>Position encoder resolution</Name>
								<Type>DT608F</Type>
								<BitSize>80</BitSize>
							</Object>
							<Object>
								<Index>#x6092</Index>
								<Name>Feed constant</Name>
								<Type>DT6092</Type>
								<BitSize>80</BitSize>
							</Object>
							<Object>
								<Index>#x6098</Index>
								<Name>Homing Method</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6099</Index>
								<Name>Homing Velocity</Name>
								<Type>DT6099</Type>
								<BitSize>80</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x609A</Index>
								<Name>Homing Acceleration</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60B0</Index>
								<Name>Position Offset</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60B8</Index>
								<Name>Touch Probe Function</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60B9</Index>
								<Name>Touch Probe Status</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BA</Index>
								<Name>Touch Probe 1 Positive Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BB</Index>
								<Name>Touch Probe 1 Negative Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BC</Index>
								<Name>Touch Probe 2 Positive Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BD</Index>
								<Name>Touch Probe 2 Negative Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60C2</Index>
								<Name>InterPolation Time Period</Name>
								<Type>DT60C2</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D5</Index>
								<Name>Touch Probe 1 Positive Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D6</Index>
								<Name>Touch Probe 1 Negative Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D7</Index>
								<Name>Touch Probe 2 Positive Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D8</Index>
								<Name>Touch Probe 2 Negative Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60FD</Index>
								<Name>Digital Inputs</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60FE</Index>
								<Name>Digital Outputs</Name>
								<Type>DT60FE</Type>
								<BitSize>72</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60FF</Index>
								<Name>Target Velocity</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6502</Index>
								<Name>Supported Drive Modes</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
						</Objects>
					</Dictionary>
				</Profile>
				<Fmmu>MBoxState</Fmmu>
				<Fmmu Sm="2">Outputs</Fmmu>
				<Fmmu Sm="3">Inputs</Fmmu>
				<Sm Enable="1" StartAddress="#x1000" ControlByte="#x26" DefaultSize="64" MinSize="6" MaxSize="128">MBoxOut</Sm>
				<Sm Enable="1" StartAddress="#x1100" ControlByte="#x22" DefaultSize="64" MinSize="6" MaxSize="128">MBoxIn</Sm>
				<Sm Enable="1" StartAddress="#x1200" ControlByte="#x64" MaxSize="100">Outputs</Sm>
				<Sm Enable="1" StartAddress="#x1400" ControlByte="#x20" MaxSize="100">Inputs</Sm>
				<RxPdo Fixed="0" Sm="2">
					<Index>#x1600</Index>
					<Name>Receive PDO 1</Name>
					<Exclude>#x1601</Exclude>
					<Exclude>#x1602</Exclude>
					<Exclude>#x1603</Exclude>
					<Entry>
						<Index>#x6040</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Control Word</Name>
						<DataType>UINT</DataType>
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					<Entry>
						<Index>#x607A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Profile Target Position</Name>
						<DataType>DINT</DataType>
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					<Entry>
						<Index>#x60B8</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Function</Name>
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					<!--CSP-->
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				<RxPdo Fixed="0">
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					<Name>Receive PDO 2</Name>
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					<Exclude>#x1602</Exclude>
					<Exclude>#x1603</Exclude>
					<Entry>
						<Index>#x6040</Index>
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						<Name>Control word</Name>
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					<Entry>
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						<Name>Profile Target Position</Name>
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					<Entry>
						<Index>#x6081</Index>
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						<BitLen>32</BitLen>
						<Name>Profile Velocity</Name>
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					<Entry>
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						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Profile Target Acceleration</Name>
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					<Entry>
						<Index>#x6084</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Profile Target Deceleration</Name>
						<DataType>UDINT</DataType>
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					<Entry>
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						<BitLen>8</BitLen>
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				<RxPdo Fixed="0">
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					<Name>Receive PDO 3</Name>
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					<Exclude>#x1603</Exclude>
					<Entry>
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						<Name>Control Word</Name>
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					<Entry>
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						<Name>Target Velocity</Name>
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					<Entry>
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						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Profile Acceleration</Name>
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					<Entry>
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						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Profile Deceleration</Name>
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					<Entry>
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				<RxPdo Fixed="0">
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					<Name>Receive PDO 4</Name>
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					<Exclude>#x1601</Exclude>
					<Exclude>#x1602</Exclude>
					<Entry>
						<Index>#x6040</Index>
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					<Entry>
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					<Entry>
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						<BitLen>32</BitLen>
						<Name>Homing Velocity (slow)</Name>
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					<Entry>
						<Index>#x609A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Homing Acceleration</Name>
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					<Entry>
						<Index>#x607C</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Homing Offset</Name>
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					<Name>Transmit PDO 1</Name>
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					<Entry>
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						<SubIndex>#x00</SubIndex>
						<BitLen>16</BitLen>
						<Name>Last Error Code</Name>
						<DataType>UINT</DataType>
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					<Entry>
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						<SubIndex>#x00</SubIndex>
						<BitLen>16</BitLen>
						<Name>Status Word</Name>
						<DataType>UINT</DataType>
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					<Entry>
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						<Name>Modes of Operation display</Name>
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					<Entry>
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						<SubIndex>#x00</SubIndex>
						<BitLen>32</BitLen>
						<Name>Position Actual Value</Name>
						<DataType>DINT</DataType>
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					<Entry>
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						<SubIndex>#x00</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Status</Name>
						<DataType>UINT</DataType>
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					<Entry>
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						<Name>Touch Probe 1 Positive Value</Name>
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					<Entry>
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						<BitLen>32</BitLen>
						<Name>Digital Inputs</Name>
						<DataType>UDINT</DataType>
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					<!--ALL MODE-->
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					<Name>Transmit PDO 2</Name>
					<Exclude>#x1A00</Exclude>
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							<!--CSP-->
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				<Name LcId="1033"><![CDATA[DM3C-EC882AC(COE)]]></Name>
				<Comment LcId="1033">80VAC/8.2A Stepper Drive</Comment>
				<Comment LcId="2052">80VAC/8.2A 步进驱动器</Comment>
				<URL LcId="1033">http://www.leadshine.com</URL>
				<URL LcId="2052">http://www.leisai.com</URL>
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							<PreopTimeout>2000</PreopTimeout>
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							<BackToInitTimeout>5000</BackToInitTimeout>
							<BackToSafeopTimeout>200</BackToSafeopTimeout>
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						<Behavior StartToSafeopNoSync="true"/>
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							<RequestTimeout>100</RequestTimeout>
							<ResponseTimeout>5000</ResponseTimeout>
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					</Mailbox>
					<IdentificationReg134>false</IdentificationReg134>
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				<GroupType>Stepper Drive</GroupType>
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						<ProfileNo>402</ProfileNo>
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								<Name>SINT</Name>
								<!--Signed short integer-->
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								<Name>USINT</Name>
								<!--Unsigned short integer-->
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								<Name>INT</Name>
								<!--Signed integer-->
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								<Name>UINT</Name>
								<!--Unsigned integer-->
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							</DataType>
							<DataType>
								<Name>DINT</Name>
								<!--Signed double integer-->
								<BitSize>32</BitSize>
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								<Name>UDINT</Name>
								<!--Unsigned double integer-->
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							</DataType>
							<DataType>
								<Name>LINT</Name>
								<!--Signed 64-bit integer-->
								<BitSize>64</BitSize>
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							<DataType>
								<Name>ULINT</Name>
								<!--Unsigned 64-bit integer-->
								<BitSize>64</BitSize>
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							<DataType>
								<Name>STRING(25)</Name>
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							<DataType>
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							<DataType>
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							<DataType>
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							<DataType>
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							<DataType>
								<Name>STRING(136)</Name>
								<BitSize>1088</BitSize>
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							<DataType>
								<Name>ARRAY [0..4] OF UINT</Name>
								<BaseType>UINT</BaseType>
								<!--Trajectory segment-->
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								<ArrayInfo>
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									<Elements>5</Elements>
								</ArrayInfo>
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							<DataType>
								<Name>ARRAY [0..13] OF UINT</Name>
								<BaseType>UINT</BaseType>
								<!--Bi-quad filter coefficients-->
								<BitSize>224</BitSize>
								<ArrayInfo>
									<LBound>0</LBound>
									<Elements>14</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>ARRAY [0..15] OF UINT</Name>
								<BaseType>UINT</BaseType>
								<!--I/O extension data-->
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								<ArrayInfo>
									<LBound>0</LBound>
									<Elements>16</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>ARRAY [0..2] OF UINT</Name>
								<BaseType>UINT</BaseType>
								<!--Trace Trigger Config-->
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								<ArrayInfo>
									<LBound>0</LBound>
									<Elements>3</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>ARRAY [0..23] OF UINT</Name>
								<BaseType>UINT</BaseType>
								<!--Input shaping filter-->
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								<ArrayInfo>
									<LBound>0</LBound>
									<Elements>24</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>ARRAY [0..16383] OF UINT</Name>
								<BaseType>UINT</BaseType>
								<!--Variable length data set-->
								<BitSize>262144</BitSize>
								<ArrayInfo>
									<LBound>0</LBound>
									<Elements>16384</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>DT1010</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Save all parameters</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Save communication parameters</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Save application parameters</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Save manufacturer parameters</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1011</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Restore all default parameters</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Restore communication default parameters</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Restore application default parameters</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Restore manufacturer default parameters</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</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>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Vendor ID</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Product Code</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Revision Number</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Serial Number</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT10F1</Name>
								<BitSize>64</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>
									<SubIdx>1</SubIdx>
									<Name>Local Error Reaction</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Error Counter Limit</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1600</Name>
								<BitSize>272</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>RPDO 1 Mapping Information 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>RPDO 1 Mapping Information 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>RPDO 1 Mapping Information 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>RPDO 1 Mapping Information 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>RPDO 1 Mapping Information 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>RPDO 1 Mapping Information 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>RPDO 1 Mapping Information 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>RPDO 1 Mapping Information 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1601</Name>
								<BitSize>272</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>RPDO 2 Mapping Information 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>RPDO 2 Mapping Information 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>RPDO 2 Mapping Information 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>RPDO 2 Mapping Information 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>RPDO 2 Mapping Information 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>RPDO 2 Mapping Information 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>RPDO 2 Mapping Information 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>RPDO 2 Mapping Information 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1602</Name>
								<BitSize>272</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>RPDO 3 Mapping Information 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>RPDO 3 Mapping Information 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>RPDO 3 Mapping Information 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>RPDO 3 Mapping Information 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>RPDO 3 Mapping Information 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>RPDO 3 Mapping Information 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>RPDO 3 Mapping Information 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>RPDO 3 Mapping Information 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1603</Name>
								<BitSize>272</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>RPDO 4 Mapping Information 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>RPDO 4 Mapping Information 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>RPDO 4 Mapping Information 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>RPDO 4 Mapping Information 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>RPDO 4 Mapping Information 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>RPDO 4 Mapping Information 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>RPDO 4 Mapping Information 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>RPDO 4 Mapping Information 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A00</Name>
								<BitSize>272</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>TPDO 1 Mapping Information 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>TPDO 1 Mapping Information 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>TPDO 1 Mapping Information 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>TPDO 1 Mapping Information 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>TPDO 1 Mapping Information 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>TPDO 1 Mapping Information 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>TPDO 1 Mapping Information 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>TPDO 1 Mapping Information 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A01</Name>
								<BitSize>272</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>TPDO 2 Mapping Information 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>TPDO 2 Mapping Information 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>TPDO 2 Mapping Information 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>TPDO 2 Mapping Information 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>TPDO 2 Mapping Information 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>TPDO 2 Mapping Information 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>TPDO 2 Mapping Information 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>TPDO 2 Mapping Information 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C00</Name>
								<BitSize>48</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>
									<SubIdx>1</SubIdx>
									<Name>Comm. Type, Sync Manager 0</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Comm. Type, Sync Manager 1</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>24</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Comm. Type, Sync Manager 2</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Comm. Type, Sync Manager 3</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>40</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C12</Name>
								<BitSize>80</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 2</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Sync Manager 2, PDO Mapping 3</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C13</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of Entries</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 3, PDO Mapping 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 3, PDO Mapping 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C32</Name>
								<BitSize>480</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>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 2, Synchronization type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 2, Cycle time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Sync Manager 2, Shift time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Sync Manager 2, Sync types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Sync Manager 2, Minimum cycle time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Sync Manager 2, Calc and copy time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Sync Manager 2, Minimum hardware delay</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Sync Manager 2,Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Sync Manager 2, Hardware delay time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync Manager 2, Sync0 cycle time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Sync Manager 2, SM-Event missed Counter</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Sync Manager 2, Cycle Time Too Small Counter</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>13</SubIdx>
									<Name>Sync Manager 2, Shift Time Too Short Counter</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>320</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>14</SubIdx>
									<Name>Sync Manager 2, RxPDO Toggle Failed Count</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>336</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>15</SubIdx>
									<Name>Sync Manager 2, Minimum cycle distance</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>352</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>16</SubIdx>
									<Name>Sync Manager 2, Maximum cycle distance</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>384</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>17</SubIdx>
									<Name>Sync Manager 2, Minimum SM SYNC distance</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>416</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>18</SubIdx>
									<Name>Sync Manager 2, Maximum SM SYNC distance</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>448</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C33</Name>
								<BitSize>320</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>
									<SubIdx>1</SubIdx>
									<Name>Sync Manager 3, Synchronization type</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Manager 3, Cycle time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Sync Manager 3, Shift time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Sync Manager 3, Sync types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Sync Manager 3, Minimum cycle time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Sync Manager 3, Calc and copy time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Sync Manager 3, Minimum hardware delay</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Sync Manager 3,Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Sync Manager 3, Hardware delay time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync Manager 3, Sync0 cycle time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Sync Manager 3, SM-Event missed Counter</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Sync Manager 3, Cycle Time Too Small Counter</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2010</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>
									<SubIdx>1</SubIdx>
									<Name>FIR Filter Time</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>IIR Filter Time</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2019</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>
									<SubIdx>1</SubIdx>
									<Name>Reached Pulse Compensate</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Disable Reached Mode</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT201A</Name>
								<BitSize>144</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>
									<SubIdx>1</SubIdx>
									<Name>Power On Enable Current percentage</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Open Loop Standby Current percentage</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Close Loop Standby Current percentage</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Turn Off Voltage percentage</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2025</Name>
								<BitSize>176</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>
									<SubIdx>1</SubIdx>
									<Name>Open to Close Mode Speed Level</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Open to Close Mode Delay</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Close to Open Mode Speed Level</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Close to Open Mode Delay</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Close to Open Mode Actual Speed Level</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2081</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>
									<SubIdx>1</SubIdx>
									<Name>Weak Magnetic Coefficient 1</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Weak Magnetic Coefficient 2</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2090</Name>
								<BitSize>176</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>
									<SubIdx>1</SubIdx>
									<Name>Current Loop Gain</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Current Loop Integral</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Current Loop Saturation Time Constant</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Current Loop Gain Ratio</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Torque Feedforward</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2091</Name>
								<BitSize>240</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>
									<SubIdx>1</SubIdx>
									<Name>Speed Loop Gain</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Speed Loop Integral</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Speed Loop Gain 2</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Speed Loop Integral Limit</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Speed Loop Filter Setting</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Speed Loop Sample Filter Setting</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Velocity Feedforward</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2092</Name>
								<BitSize>112</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>
									<SubIdx>1</SubIdx>
									<Name>Position Loop Gain</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Position Loop Gain 2</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Position Loop Filter Setting</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2152</Name>
								<BitSize>208</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>
									<SubIdx>1</SubIdx>
									<Name>Input 1 Function</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Input 2 Function</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Input 3 Function</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Input 4 Function</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Input 5 Function</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Input 6 Function</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT2156</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>
									<SubIdx>1</SubIdx>
									<Name>Output 1 Function</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Output 2 Function</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT3100</Name>
								<BitSize>64</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>
									<SubIdx>1</SubIdx>
									<Name>Driver Software Version</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>FPGA Software Version</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Slave Stack Software Version</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT3FFE</Name>
								<BitSize>240</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>
									<SubIdx>1</SubIdx>
									<Name>Fault Record 0</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Fault Record 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Fault Record 2</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Fault Record 3</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Fault Record 4</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Fault Record 5</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Fault Record 6</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Fault Record 7</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>128</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Fault Record 8</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Fault Record 9</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>160</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Fault Record 10</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Fault Record 11</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>192</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>13</SubIdx>
									<Name>Fault Record 12</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>14</SubIdx>
									<Name>Fault Record 13</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>214</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT4000</Name>
								<BitSize>144</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>
									<SubIdx>1</SubIdx>
									<Name>Motor Type</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Motor Resistance</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Motor Inductance</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Motor Back EMF Coefficient</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT4003</Name>
								<BitSize>112</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>
									<SubIdx>1</SubIdx>
									<Name>Break Lock Delay Time</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Break Release Delay Time</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Break Release Speed</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT4005</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>
									<SubIdx>1</SubIdx>
									<Name>Regenerative Resistance Circuit Enable</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Regenerative Resistance Circuit Turn On Voltage</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT5000</Name>
								<BitSize>128</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>
									<SubIdx>1</SubIdx>
									<Name>Trajectory Generator Status</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Motion State Machine</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Interior Enable Status</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Target Reached Status</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Internal Response Status</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>EEPROM Status</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Special Status</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT5002</Name>
								<BitSize>48</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>
									<SubIdx>1</SubIdx>
									<Name>Register Address</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Register Data</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT5004</Name>
								<BitSize>272</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>
									<SubIdx>1</SubIdx>
									<Name>Outputs Size</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Inputs Size</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>RPDO Count</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>TPDO Count</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Sync0 Watch Dog Counter</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Sync0 Watch Dog Counter Internal</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Sync0 Watch Value</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Sync0 Drift Counter</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>128</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Sync0 Drift Value</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>SM Watch Dog Counter Internal</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>160</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>SM Watch Dog Value Internal</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>SM Sync0 Watch Dog Counter</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>13</SubIdx>
									<Name>SM Sync0 Watch Dog Value</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>192</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>14</SubIdx>
									<Name>Sync0 Ratio</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>15</SubIdx>
									<Name>Sync Function Setting</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>16</SubIdx>
									<Name>Sync0 Interval</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT5012</Name>
								<BitSize>128</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>
									<SubIdx>1</SubIdx>
									<Name>Home Reached Position</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Home Triggered Position</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Home IO Simulator</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Home Setting</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Home Speed Limit</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT5015</Name>
								<BitSize>192</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>
									<SubIdx>1</SubIdx>
									<Name>Internal Command Position</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Internal Command Velocity</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Internal Command Torque</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Internal Reserve 1</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Profile Mode Setting 1</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>128</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Profile Mode Setting 2</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Internal Reserve 2</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>160</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Internal Reserve 3</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT5400</Name>
								<BitSize>48</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>
									<SubIdx>1</SubIdx>
									<Name>DC Period Minimux Value</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>DC Period Maximux Value</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>T</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT5500</Name>
								<BitSize>336</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>
									<SubIdx>1</SubIdx>
									<Name>Number of Turns of Absolute Encoder</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Single Turn Position of Absolute Encoder</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Low Position of Absolute Encoder</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>High Position of Absolute Encoder</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Low Mechanical Position</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>High Mechanical Position</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Encoder Communication Error  Counter</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Manufacture Reserve High </Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Manufacture Use Low </Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>272</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Manufacture Use High </Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>304</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT5501</Name>
								<BitSize>272</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>
									<SubIdx>1</SubIdx>
									<Name>Actual Motor Speed</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Command Speed</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Speed Command</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Actual Torque</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Command Torque</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Relative Position Error</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Internal Position Command</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>128</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Overload Rate</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>160</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Regenrative Resistance Load Ratio</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Inertia Ratio</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>192</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>Positive Actual Torque Limit</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>12</SubIdx>
									<Name>Negative Actual Torque Limit</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>13</SubIdx>
									<Name>U Phase Actual Current</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>14</SubIdx>
									<Name>V Phase Actual Current</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT5502</Name>
								<BitSize>144</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>
									<SubIdx>1</SubIdx>
									<Name>Digital Input Level</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Digital Output Level</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Analog Input 1 Level</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Analog Input 2 Level</Name>
									<Type>INT</Type>
									<BitSize>16</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>DC Link Circuit Voltage</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>IPM Temperature</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Operation Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>116</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT607D</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>
									<SubIdx>1</SubIdx>
									<Name>Negative software limit position</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Positive software limit position</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT608F</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>
									<SubIdx>1</SubIdx>
									<Name>Encoder increments</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Motor revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6091</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>
									<SubIdx>1</SubIdx>
									<Name>Motor revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Shaft revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6092</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>
									<SubIdx>1</SubIdx>
									<Name>Feed increments</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
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									<Name>Shaft revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
							</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>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Homing Velocity (fast)</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
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								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Homing Velocity (slow)</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT60A4</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>
									<SubIdx>1</SubIdx>
									<Name>Profile Jerk 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Profile Jerk 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT60C1</Name>
								<BitSize>88</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>
									<SubIdx>1</SubIdx>
									<Name>Interpolated position value</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Interpolated time value</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Interpolated velocity value</Name>
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									<BitSize>32</BitSize>
									<BitOffs>56</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>TR</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT60C2</Name>
								<BitSize>32</BitSize>
								<SubItem>
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									<Type>USINT</Type>
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									<BitOffs>0</BitOffs>
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								<SubItem>
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								<SubItem>
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							<DataType>
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								<SubItem>
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								<SubItem>
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										<PdoMapping>TR</PdoMapping>
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								<Index>#x1000</Index>
								<Name>Device Type</Name>
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								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
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							<Object>
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								<Name>Error Register</Name>
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								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
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							<Object>
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								<Name>Device Name</Name>
								<Type>STRING(7)</Type>
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								<Info/>
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									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1009</Index>
								<Name>Hardware Version</Name>
								<Type>STRING(5)</Type>
								<BitSize>40</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x100A</Index>
								<Name>Software Version</Name>
								<Type>STRING(5)</Type>
								<BitSize>40</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1010</Index>
								<Name>Store Parameters</Name>
								<Type>DT1010</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1011</Index>
								<Name>Restore Parameters</Name>
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								<Flags>
									<Access>rw</Access>
								</Flags>
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							<Object>
								<Index>#x1018</Index>
								<Name>Identity Object</Name>
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								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
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								<Name>Error Settings</Name>
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							<Object>
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								<Name>RXPDO 1 Mapping Parameter</Name>
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								<Flags>
									<Access>rw</Access>
								</Flags>
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							<Object>
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								<Name>RXPDO 2 Mapping Parameter</Name>
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								<Flags>
									<Access>rw</Access>
								</Flags>
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							<Object>
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								<Name>RXPDO 3 Mapping Parameter</Name>
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								<Flags>
									<Access>rw</Access>
								</Flags>
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							<Object>
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								<Name>RXPDO 4 Mapping Parameter</Name>
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								<Flags>
									<Access>rw</Access>
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							<Object>
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								<Name>TXPDO 1 Mapping Parameter</Name>
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								<Flags>
									<Access>rw</Access>
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							<Object>
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								<Name>TXPDO 2 Mapping Parameter</Name>
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								<Flags>
									<Access>rw</Access>
								</Flags>
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							<Object>
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								<Name>SM Communication Type</Name>
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								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
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								<Name>SM2(Outputs) PDO Assignment</Name>
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								<Flags>
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								</Flags>
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							<Object>
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								<Name>SM3(Inputs) PDO Assignment</Name>
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								<BitSize>48</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
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							<Object>
								<Index>#x1C32</Index>
								<Name>Output Sync Manager Parameter</Name>
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								<BitSize>480</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1C33</Index>
								<Name>Input Sync Manager Parameter</Name>
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								<BitSize>320</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x2000</Index>
								<Name>Peak Current</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2001</Index>
								<Name>Motor Resolution</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2010</Index>
								<Name>Filter Time</Name>
								<Type>DT2010</Type>
								<BitSize>80</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2012</Index>
								<Name>Soft Start Time</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2013</Index>
								<Name>Auto-tune Enable</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2018</Index>
								<Name>Power On Delay</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2019</Index>
								<Name>Reached Setting</Name>
								<Type>DT2019</Type>
								<BitSize>80</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x201A</Index>
								<Name>Percentage Parameters</Name>
								<Type>DT201A</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x201B</Index>
								<Name>Lock Axis Time When Power On</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x201C</Index>
								<Name>Maximum Stop Time</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x201D</Index>
								<Name>Zero Speed Threshold</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2030</Index>
								<Name>Position Loop Control Effort Limit</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2047</Index>
								<Name>Over Voltage Level</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2056</Index>
								<Name>Fault Detect Configure</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2073</Index>
								<Name>Motor Return After Power On</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2090</Index>
								<Name>Current Loop Parameters</Name>
								<Type>DT2090</Type>
								<BitSize>176</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x214A</Index>
								<Name>Slave ID Selector Data</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x214B</Index>
								<Name>HMI Display Select</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2150</Index>
								<Name>Slave Alias</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2151</Index>
								<Name>Slave Alias Source</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2152</Index>
								<Name>Inputs Function</Name>
								<Type>DT2152</Type>
								<BitSize>208</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2155</Index>
								<Name>Physical Inputs Level</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x2156</Index>
								<Name>Outputs Function</Name>
								<Type>DT2156</Type>
								<BitSize>80</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x225C</Index>
								<Name>Special Function Register </Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x22A9</Index>
								<Name>Limit Switch Option Code</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x22B4</Index>
								<Name>E-stop Input Option Code</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x3100</Index>
								<Name>Firmware Version</Name>
								<Type>DT3100</Type>
								<BitSize>48</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x3FFE</Index>
								<Name>Fault Record</Name>
								<Type>DT3FFE</Type>
								<BitSize>240</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x4000</Index>
								<Name>Motor Parameters</Name>
								<Type>DT4000</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x4003</Index>
								<Name>Motor Break Parameters</Name>
								<Type>DT4003</Type>
								<BitSize>112</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x4005</Index>
								<Name>Regenerative Resistance Parameters</Name>
								<Type>DT4005</Type>
								<BitSize>80</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x4500</Index>
								<Name>Current Error ID</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x5000</Index>
								<Name>Internal States</Name>
								<Type>DT5000</Type>
								<BitSize>128</BitSize>
							</Object>
							<Object>
								<Index>#x5002</Index>
								<Name>ESC Register Interface</Name>
								<Type>DT5002</Type>
								<BitSize>48</BitSize>
							</Object>
							<Object>
								<Index>#x5004</Index>
								<Name>Sync Interface Parameters</Name>
								<Type>DT5004</Type>
								<BitSize>272</BitSize>
							</Object>
							<Object>
								<Index>#x5005</Index>
								<Name>DC Compensate Base Value</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x5006</Index>
								<Name>Sync Error Detect Setting</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x5010</Index>
								<Name>Valid Outputs/Inputs Watch Dog Time</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x5011</Index>
								<Name>Internal Actual Position</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x5012</Index>
								<Name>Home Interface</Name>
								<Type>DT5012</Type>
								<BitSize>128</BitSize>
							</Object>
							<Object>
								<Index>#x5013</Index>
								<Name>Motor Not Work Code</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x5400</Index>
								<Name>DC Period Setting</Name>
								<Type>DT5400</Type>
								<BitSize>80</BitSize>
							</Object>
							<Object>
								<Index>#x5500</Index>
								<Name>Absolute Encoder Monitors</Name>
								<Type>DT5500</Type>
								<BitSize>336</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x5501</Index>
								<Name>Motion Monitors</Name>
								<Type>DT5501</Type>
								<BitSize>336</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x5502</Index>
								<Name>Miscellaneous Monitors</Name>
								<Type>DT5502</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x603f</Index>
								<Name>Last Error Code</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6040</Index>
								<Name>Control Word</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6041</Index>
								<Name>Status Word</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x605A</Index>
								<Name>Quick Stop Option Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x605B</Index>
								<Name>Shutdown option code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x605C</Index>
								<Name>Disable operation option code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x605D</Index>
								<Name>Halt option code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x605E</Index>
								<Name>Fault reaction option code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6060</Index>
								<Name>Modes of Operation</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6061</Index>
								<Name>Modes of Operation Display</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6062</Index>
								<Name>Commanded Position</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6064</Index>
								<Name>Actual Position</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x606B</Index>
								<Name>Commanded Velocity</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x606C</Index>
								<Name>Actual Velocity</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6073</Index>
								<Name>Max Current</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x607A</Index>
								<Name>Profile Target Position</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x607C</Index>
								<Name>Homing Offset</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x607E</Index>
								<Name>Polarity</Name>
								<Type>USINT</Type>
								<BitSize>8</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x607F</Index>
								<Name>Max Profile velocity</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6080</Index>
								<Name>Max motor speed</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6081</Index>
								<Name>Profile Velocity</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6082</Index>
								<Name>End Velocity</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6083</Index>
								<Name>Profile Acceleration</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6084</Index>
								<Name>Profile Deceleration</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6085</Index>
								<Name>Quick Stop Deceleration</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x608F</Index>
								<Name>Position encoder resolution</Name>
								<Type>DT608F</Type>
								<BitSize>80</BitSize>
							</Object>
							<Object>
								<Index>#x6092</Index>
								<Name>Feed constant</Name>
								<Type>DT6092</Type>
								<BitSize>80</BitSize>
							</Object>
							<Object>
								<Index>#x6098</Index>
								<Name>Homing Method</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6099</Index>
								<Name>Homing Velocity</Name>
								<Type>DT6099</Type>
								<BitSize>80</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x609A</Index>
								<Name>Homing Acceleration</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60B0</Index>
								<Name>Position Offset</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60B8</Index>
								<Name>Touch Probe Function</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60B9</Index>
								<Name>Touch Probe Status</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BA</Index>
								<Name>Touch Probe 1 Positive Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BB</Index>
								<Name>Touch Probe 1 Negative Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BC</Index>
								<Name>Touch Probe 2 Positive Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BD</Index>
								<Name>Touch Probe 2 Negative Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60C2</Index>
								<Name>InterPolation Time Period</Name>
								<Type>DT60C2</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D5</Index>
								<Name>Touch Probe 1 Positive Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D6</Index>
								<Name>Touch Probe 1 Negative Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D7</Index>
								<Name>Touch Probe 2 Positive Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60D8</Index>
								<Name>Touch Probe 2 Negative Counter</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60FD</Index>
								<Name>Digital Inputs</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60FE</Index>
								<Name>Digital Outputs</Name>
								<Type>DT60FE</Type>
								<BitSize>72</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60FF</Index>
								<Name>Target Velocity</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>TR</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6502</Index>
								<Name>Supported Drive Modes</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
						</Objects>
					</Dictionary>
				</Profile>
				<Fmmu>MBoxState</Fmmu>
				<Fmmu Sm="2">Outputs</Fmmu>
				<Fmmu Sm="3">Inputs</Fmmu>
				<Sm Enable="1" StartAddress="#x1000" ControlByte="#x26" DefaultSize="64" MinSize="6" MaxSize="128">MBoxOut</Sm>
				<Sm Enable="1" StartAddress="#x1100" ControlByte="#x22" DefaultSize="64" MinSize="6" MaxSize="128">MBoxIn</Sm>
				<Sm Enable="1" StartAddress="#x1200" ControlByte="#x64" MaxSize="100">Outputs</Sm>
				<Sm Enable="1" StartAddress="#x1400" ControlByte="#x20" MaxSize="100">Inputs</Sm>
				<RxPdo Fixed="0" Sm="2">
					<Index>#x1600</Index>
					<Name>Receive PDO 1</Name>
					<Exclude>#x1601</Exclude>
					<Exclude>#x1602</Exclude>
					<Exclude>#x1603</Exclude>
					<Entry>
						<Index>#x6040</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Control Word</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x607A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Profile Target Position</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60B8</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Function</Name>
						<DataType>UINT</DataType>
					</Entry>
					<!--CSP-->
				</RxPdo>
				<RxPdo Fixed="0">
					<Index>#x1601</Index>
					<Name>Receive PDO 2</Name>
					<Exclude>#x1600</Exclude>
					<Exclude>#x1602</Exclude>
					<Exclude>#x1603</Exclude>
					<Entry>
						<Index>#x6040</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Control word</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x607A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Profile Target Position</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6081</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Profile Velocity</Name>
						<DataType>UDINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6083</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Profile Target Acceleration</Name>
						<DataType>UDINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6084</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Profile Target Deceleration</Name>
						<DataType>UDINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of Operation</Name>
						<DataType>USINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="0">
					<Index>#x1602</Index>
					<Name>Receive PDO 3</Name>
					<Exclude>#x1600</Exclude>
					<Exclude>#x1601</Exclude>
					<Exclude>#x1603</Exclude>
					<Entry>
						<Index>#x6040</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Control Word</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60FF</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target Velocity</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6083</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Profile Acceleration</Name>
						<DataType>UDINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6084</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Profile Deceleration</Name>
						<DataType>UDINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of Operation</Name>
						<DataType>USINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="0">
					<Index>#x1603</Index>
					<Name>Receive PDO 4</Name>
					<Exclude>#x1600</Exclude>
					<Exclude>#x1601</Exclude>
					<Exclude>#x1602</Exclude>
					<Entry>
						<Index>#x6040</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Control Word</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6098</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Homing Method</Name>
						<DataType>SINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6099</Index>
						<SubIndex>1</SubIndex>
						<BitLen>32</BitLen>
						<Name>Homing Velocity (fast)</Name>
						<DataType>UDINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6099</Index>
						<SubIndex>2</SubIndex>
						<BitLen>32</BitLen>
						<Name>Homing Velocity (slow)</Name>
						<DataType>UDINT</DataType>
					</Entry>
					<Entry>
						<Index>#x609A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Homing Acceleration</Name>
						<DataType>UDINT</DataType>
					</Entry>
					<Entry>
						<Index>#x607C</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Homing Offset</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of Operation</Name>
						<DataType>USINT</DataType>
					</Entry>
				</RxPdo>
				<TxPdo Fixed="0" Sm="3">
					<Index>#x1a00</Index>
					<Name>Transmit PDO 1</Name>
					<Exclude>#x1A01</Exclude>
					<Entry>
						<Index>#x603F</Index>
						<SubIndex>#x00</SubIndex>
						<BitLen>16</BitLen>
						<Name>Last Error Code</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6041</Index>
						<SubIndex>#x00</SubIndex>
						<BitLen>16</BitLen>
						<Name>Status Word</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6061</Index>
						<SubIndex>#x00</SubIndex>
						<BitLen>8</BitLen>
						<Name>Modes of Operation display</Name>
						<DataType>SINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6064</Index>
						<SubIndex>#x00</SubIndex>
						<BitLen>32</BitLen>
						<Name>Position Actual Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60B9</Index>
						<SubIndex>#x00</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Status</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BA</Index>
						<SubIndex>#x00</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe 1 Positive Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60FD</Index>
						<SubIndex>#x00</SubIndex>
						<BitLen>32</BitLen>
						<Name>Digital Inputs</Name>
						<DataType>UDINT</DataType>
					</Entry>
					<!--ALL MODE-->
				</TxPdo>
				<TxPdo Fixed="0">
					<Index>#x1a01</Index>
					<Name>Transmit PDO 2</Name>
					<Exclude>#x1A00</Exclude>
				</TxPdo>
				<Mailbox DataLinkLayer="1">
					<CoE SdoInfo="false" PdoUpload="false" PdoAssign="true" PdoConfig="true" SegmentedSdo="false" CompleteAccess="false" DiagHistory="false">
						<InitCmd>
							<Transition>PS</Transition>
							<Index>#x6060</Index>
							<SubIndex>0</SubIndex>
							<Data>08</Data>
							<Comment>Modes of Operation</Comment>
							<!--CSP-->
						</InitCmd>
					</CoE>
				</Mailbox>
				<Dc>
					<OpMode>
						<Name>DC</Name>
						<Desc>DC-Synchron</Desc>
						<AssignActivate>#x0300</AssignActivate>
						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
						<ShiftTimeSync0>0</ShiftTimeSync0>
					</OpMode>
					<OpMode>
						<Name>Free Run</Name>
						<Desc>Free-Run</Desc>
						<AssignActivate>#x0000</AssignActivate>
					</OpMode>
				</Dc>
				<Eeprom>
					<ByteSize>2048</ByteSize>
					<ConfigData>003c0000640000000000</ConfigData>
				</Eeprom>
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		</Devices>
	</Descriptions>
</EtherCATInfo>
