<?xml version="1.0"?>
<EtherCATInfo xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd" Version="1.2">
	<Vendor>
		<Id>#x4C4E5449</Id>
		<Name>LinMot NTI AG</Name>
	</Vendor>
	<Descriptions>
		<Groups>
			<Group SortOrder="520">
				<Type>Drive</Type>
				<Name LcId="1033">Servo</Name>
			</Group>
		</Groups>
		<Devices>
			<Device Physics="YY">
				<Type TcCfgModeSafeOp="1" ProductCode="#x009606DA" RevisionNo="#x00010001">E1250-EC-UC</Type>
				<Name LcId="1033"><![CDATA[E1250 EC]]></Name>
				<Info>
					<StateMachine>
						<Behavior StartToSafeopNoSync="true"/>
					</StateMachine>
				</Info>
				<GroupType>Drive</GroupType>
				<Fmmu>Outputs</Fmmu>
				<Fmmu>Inputs</Fmmu>
				<Sm MinSize="32" MaxSize="512" DefaultSize="128" StartAddress="#x1800" ControlByte="#x26" Enable="1">MBoxOut</Sm>
				<Sm MinSize="32" MaxSize="512" DefaultSize="128" StartAddress="#x1c00" ControlByte="#x22" Enable="1">MBoxIn</Sm>
				<Sm StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
				<Sm StartAddress="#x1200" ControlByte="#x20" Enable="1">Inputs</Sm>
				<Su>Drives</Su>
				<RxPdo Fixed="0" Sm="2">
					<Index>#x1700</Index>
					<Name>Outputs</Name>
					<Exclude>#x1701</Exclude>
					<Entry>
						<Index>#x1D52</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Control Word</Name>
						<DataType>UINT</DataType>
					</Entry>					
					<Entry>
						<Index>#x1DB0</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Motion Command Header</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x1E40</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Motion Command Par 1</Name>
						<DataType>DINT</DataType>
					</Entry>	
					<Entry>
						<Index>#x1E41</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Motion Command Par 2</Name>
						<DataType>DINT</DataType>
					</Entry>	
					<Entry>
						<Index>#x1E42</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Motion Command Par 3</Name>
						<DataType>DINT</DataType>
					</Entry>	
					<Entry>
						<Index>#x1E43</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Motion Command Par 4</Name>
						<DataType>DINT</DataType>
					</Entry>																					
					<Entry>
						<Index>#x1E44</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Motion Command Par 5</Name>
						<DataType>DINT</DataType>
					</Entry>								
				</RxPdo>				
				<TxPdo Fixed="0" Sm="3">
					<Index>#x1b00</Index>
					<Name>Inputs</Name>
					<Exclude>#x1b01</Exclude>
					<Entry>
						<Index>#x1B62</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>StateVar</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x1D51</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>StatusWord</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x1D8E</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>WarnWord</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x1B8A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>DemandPosition</Name>
						<DataType>DINT</DataType>
					</Entry>										
					<Entry>
						<Index>#x1B8D</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>ActualPosition</Name>
						<DataType>DINT</DataType>
					</Entry>					
					<Entry>
						<Index>#x1B93</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>DemandCurrent</Name>
						<DataType>DINT</DataType>
					</Entry>										
				</TxPdo>				
				<TxPdo Fixed="1">
					<Index>#x1b10</Index>
					<Name>Input DemVel</Name>
					<Exclude>#x1b03</Exclude>
					<Entry>
						<Index>#x1B8B</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>DemandVelocity</Name>
						<DataType>DINT</DataType>
					</Entry>										
				</TxPdo>
				<TxPdo Fixed="1">
					<Index>#x1b11</Index>
					<Name>Input ActVel</Name>
					<Exclude>#x1b03</Exclude>
					<Entry>
						<Index>#x1B8E</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>ActualVelocity</Name>
						<DataType>DINT</DataType>
					</Entry>										
				</TxPdo>
				
				<Mailbox>
					<AoE AdsRouter="1" GenerateOwnNetId="1" InitializeOwnNetId="1"/>
				
					<CoE DS402Channels="0" PdoAssign="1">
						<InitCmd>
							<Transition>PS</Transition>
							<Index>#x6060</Index>
							<SubIndex>0</SubIndex>
							<Data>fe</Data>
							<Comment>Op mode</Comment>
						</InitCmd>
						<InitCmd>
							<Transition>PS</Transition>
							<Index>#x60c2</Index>
							<SubIndex>1</SubIndex>
							<Data>02</Data>
							<Comment>Cycle time</Comment>
						</InitCmd>
						<InitCmd>
							<Transition>PS</Transition>
							<Index>#x60c2</Index>
							<SubIndex>2</SubIndex>
							<Data>fd</Data>
							<Comment>Cycle exp</Comment>
						</InitCmd>
					</CoE>
				</Mailbox>
				<Dc UnknownFRMW="1">
					<OpMode>
						<Name>DcOff</Name>
						<Desc>DC unused</Desc>
						<AssignActivate>#x0000</AssignActivate>
						<Sm No="2">
							<SyncType>1</SyncType>
							<CycleTime Factor="1">0</CycleTime>
							<ShiftTime MinAfterSync="100">100</ShiftTime>
						</Sm>
						<Sm No="3">
							<SyncType>34</SyncType>
							<CycleTime Factor="1">0</CycleTime>
							<ShiftTime MinBeforeFrame="100">0</ShiftTime>
						</Sm>
					</OpMode>
					<OpMode>
						<Name>DcSync</Name>
						<Desc>DC for synchronization</Desc>
						<AssignActivate>#x0300</AssignActivate>
						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
						<ShiftTimeSync0>0</ShiftTimeSync0>
						<Sm No="2">
							<SyncType>2</SyncType>
							<CycleTime Factor="1">0</CycleTime>
							<ShiftTime MinAfterSync="0">0</ShiftTime>
						</Sm>
						<Sm No="3">
							<SyncType>2</SyncType>
							<CycleTime Factor="1">0</CycleTime>
							<ShiftTime MinBeforeFrame="100">0</ShiftTime>
						</Sm>
					</OpMode>
				</Dc>
				<Eeprom>
					<ByteSize>2048</ByteSize>
					<ConfigData>080000080000</ConfigData>
				</Eeprom>
				<Image16x14>DRIVE</Image16x14>
			</Device>
		</Devices>
	</Descriptions>
</EtherCATInfo>
