<?xml version="1.0" encoding="utf-8"?>
<!--
*******************************************************************************

 Ethernet POWERLINK XML device description for LinMot C1250 MIPL Linear Drive

Contact:
NTI AG 
LinMot
Bodenaeckerstrasse 2
CH-8957 Spreitenbach

Phone: 		+41-(0)-56-419 9191
Fax:		+41-(0)-56-419 9192
E-Mail: 	office@linmot.com

*******************************************************************************

 For more details see:
 [] Ethernet POWERLINK, XML Device Description, Draft Standard 311, 
    Version 1.0.0, (c) EPSG (Ethernet POWERLINK Standardisation Group)
 [] Ethernet POWERLINK, Communication Profile Specification, Draft Standard 301, 
    Version 1.3.0, (c) EPSG (Ethernet POWERLINK Standardisation Group)
 
*******************************************************************************
-->
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      </DeviceIdentity>
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            <SubObject subIndex="EE" name="CycleNo" objectType="7" dataType="0005" accessType="rw" PDOmapping="no" defaultValue="0"/>
            <SubObject subIndex="EF" name="CycleNo" objectType="7" dataType="0005" accessType="rw" PDOmapping="no" defaultValue="0"/>
            <SubObject subIndex="F0" name="CycleNo" objectType="7" dataType="0005" accessType="rw" PDOmapping="no" defaultValue="0"/>
            <SubObject subIndex="F1" name="CycleNo" objectType="7" dataType="0005" accessType="rw" PDOmapping="no" defaultValue="0"/>
            <SubObject subIndex="F2" name="CycleNo" objectType="7" dataType="0005" accessType="rw" PDOmapping="no" defaultValue="0"/>
            <SubObject subIndex="F3" name="CycleNo" objectType="7" dataType="0005" accessType="rw" PDOmapping="no" defaultValue="0"/>
            <SubObject subIndex="F4" name="CycleNo" objectType="7" dataType="0005" accessType="rw" PDOmapping="no" defaultValue="0"/>
            <SubObject subIndex="F5" name="CycleNo" objectType="7" dataType="0005" accessType="rw" PDOmapping="no" defaultValue="0"/>
            <SubObject subIndex="F6" name="CycleNo" objectType="7" dataType="0005" accessType="rw" PDOmapping="no" defaultValue="0"/>
            <SubObject subIndex="F7" name="CycleNo" objectType="7" dataType="0005" accessType="rw" PDOmapping="no" defaultValue="0"/>
            <SubObject subIndex="F8" name="CycleNo" objectType="7" dataType="0005" accessType="rw" PDOmapping="no" defaultValue="0"/>
            <SubObject subIndex="F9" name="CycleNo" objectType="7" dataType="0005" accessType="rw" PDOmapping="no" defaultValue="0"/>
            <SubObject subIndex="FA" name="CycleNo" objectType="7" dataType="0005" accessType="rw" PDOmapping="no" defaultValue="0"/>
            <SubObject subIndex="FB" name="CycleNo" objectType="7" dataType="0005" accessType="rw" PDOmapping="no" defaultValue="0"/>
            <SubObject subIndex="FC" name="CycleNo" objectType="7" dataType="0005" accessType="rw" PDOmapping="no" defaultValue="0"/>
            <SubObject subIndex="FD" name="CycleNo" objectType="7" dataType="0005" accessType="rw" PDOmapping="no" defaultValue="0"/>
            <SubObject subIndex="FE" name="CycleNo" objectType="7" dataType="0005" accessType="rw" PDOmapping="no" defaultValue="0"/>
          </Object>
          <Object index="1F9E" name="NMT_ResetCmd_U8" objectType="7" dataType="0005" defaultValue="0xff" accessType="rw"/>
          <Object index="2000" name="BytesOut_REC" objectType="9">
            <SubObject subIndex="00" name="NumberOfEntries" objectType="7" dataType="0005" defaultValue="0x1"                      accessType="const" />
            <SubObject subIndex="01" name="QB0"             objectType="7" dataType="0005"                    PDOmapping="default" accessType="rw"    />
          </Object>
          <Object index="2100" name="BytesIn_REC" objectType="9">
            <SubObject subIndex="00" name="NumberOfEntries" objectType="7" dataType="0005" defaultValue="0x1"                      accessType="const" />
            <SubObject subIndex="01" name="IB0"             objectType="7" dataType="0005"                    PDOmapping="default" accessType="ro"    />
          </Object>
		  
		  

          <!-- MCSW Variables: RECORD -->
          <Object index="4F00" name="MCSW_Variables" objectType="9">
            <SubObject subIndex="00" name="NumberOfEntries" objectType="7" dataType="0005" accessType="const" PDOmapping="no" defaultValue="0x19"/>
            <SubObject subIndex="01" name="MCSW_StateVar" objectType="7" dataType="0006" accessType="ro" PDOmapping="optional"/>
            <SubObject subIndex="02" name="MCSW_StatusWord" objectType="7" dataType="0006" accessType="ro" PDOmapping="optional"/>
            <SubObject subIndex="03" name="MCSW_WarnWord" objectType="7" dataType="0006" accessType="ro" PDOmapping="optional"/>
            <SubObject subIndex="04" name="MCSW_ActualPosition32Bit" objectType="7" dataType="0004" accessType="ro" PDOmapping="optional"/>
            <SubObject subIndex="05" name="MCSW_DemandPosition32Bit" objectType="7" dataType="0004" accessType="ro" PDOmapping="optional"/>
            <SubObject subIndex="06" name="MCSW_DemandCurrent" objectType="7" dataType="0004" accessType="ro" PDOmapping="optional"/>
            <SubObject subIndex="07" name="MCSW_ControlWord" objectType="7" dataType="0006" accessType="wo" PDOmapping="optional"/>
            <SubObject subIndex="08" name="MCSW_MotionCommandHeader" objectType="7" dataType="0006" accessType="wo" PDOmapping="optional"/>
            <SubObject subIndex="09" name="MCSW_MotionCommandByte_00_03" objectType="7" dataType="0007" accessType="wo" PDOmapping="optional"/>
            <SubObject subIndex="0A" name="MCSW_MotionCommandByte_04_07" objectType="7" dataType="0007" accessType="wo" PDOmapping="optional"/>
            <SubObject subIndex="0B" name="MCSW_MotionCommandByte_08_11" objectType="7" dataType="0007" accessType="wo" PDOmapping="optional"/>
            <SubObject subIndex="0C" name="MCSW_MotionCommandByte_12_15" objectType="7" dataType="0007" accessType="wo" PDOmapping="optional"/>
            <SubObject subIndex="0D" name="MCSW_MotionCommandByte_16_19" objectType="7" dataType="0007" accessType="wo" PDOmapping="optional"/>
            <SubObject subIndex="0E" name="MCSW_MotionCommandByte_20_23" objectType="7" dataType="0007" accessType="wo" PDOmapping="optional"/>
            <SubObject subIndex="0F" name="MCSW_MotionCommandByte_24_27" objectType="7" dataType="0007" accessType="wo" PDOmapping="optional"/>				
            <SubObject subIndex="10" name="MCSW_MotionCommandByte_00_01" objectType="7" dataType="0006" accessType="wo" PDOmapping="optional"/>
            <SubObject subIndex="11" name="MCSW_MotionCommandByte_02_03" objectType="7" dataType="0006" accessType="wo" PDOmapping="optional"/>
            <SubObject subIndex="12" name="MCSW_MotionCommandByte_04_05" objectType="7" dataType="0006" accessType="wo" PDOmapping="optional"/>
            <SubObject subIndex="13" name="MCSW_MotionCommandByte_06_07" objectType="7" dataType="0006" accessType="wo" PDOmapping="optional"/>
            <SubObject subIndex="14" name="MCSW_MotionCommandByte_08_09" objectType="7" dataType="0006" accessType="wo" PDOmapping="optional"/>
            <SubObject subIndex="15" name="MCSW_MotionCommandByte_10_11" objectType="7" dataType="0006" accessType="wo" PDOmapping="optional"/>
            <SubObject subIndex="16" name="MCSW_MotionCommandByte_12_13" objectType="7" dataType="0006" accessType="wo" PDOmapping="optional"/>
            <SubObject subIndex="17" name="MCSW_MotionCommandByte_14_15" objectType="7" dataType="0006" accessType="wo" PDOmapping="optional"/>
            <SubObject subIndex="18" name="MCSW_MotionCommandByte_16_17" objectType="7" dataType="0006" accessType="wo" PDOmapping="optional"/>
            <SubObject subIndex="19" name="MCSW_MotionCommandByte_18_19" objectType="7" dataType="0006" accessType="wo" PDOmapping="optional"/>
          </Object>
		  
		  <!-- Variable UPID Mapping UPIDs: RECORD -->
          <Object index="4F01" name="UPID_Variables_UPIDs" objectType="9">
            <SubObject subIndex="00" name="NumberOfEntries" objectType="7" dataType="0005" accessType="const" PDOmapping="no" defaultValue="0x04"/>
            <SubObject subIndex="01" name="UPID_01" objectType="7" dataType="0006" accessType="wo" PDOmapping="no" defaultValue="0021"/>
            <SubObject subIndex="02" name="UPID_02" objectType="7" dataType="0006" accessType="wo" PDOmapping="no" defaultValue="0021"/>
            <SubObject subIndex="03" name="UPID_03" objectType="7" dataType="0006" accessType="wo" PDOmapping="no" defaultValue="0021"/>
            <SubObject subIndex="04" name="UPID_04" objectType="7" dataType="0006" accessType="wo" PDOmapping="no" defaultValue="0021"/>
          </Object>
		  
		  <!-- Variable UPID Mapping: RECORD -->
          <Object index="4F02" name="UPID_Variables_Values" objectType="9">
            <SubObject subIndex="00" name="NumberOfEntries" objectType="7" dataType="0005" accessType="const" PDOmapping="no" defaultValue="0x04"/>
            <SubObject subIndex="01" name="Variable_by_UPID_01" objectType="7" dataType="0007" accessType="rw" PDOmapping="optional"/>
            <SubObject subIndex="02" name="Variable_by_UPID_02" objectType="7" dataType="0007" accessType="rw" PDOmapping="optional"/>
            <SubObject subIndex="03" name="Variable_by_UPID_03" objectType="7" dataType="0007" accessType="rw" PDOmapping="optional"/>
            <SubObject subIndex="04" name="Variable_by_UPID_04" objectType="7" dataType="0007" accessType="rw" PDOmapping="optional"/>
          </Object>
		  
		  <!-- Cfg Interface over Fieldbus: RECORD -->
          <Object index="4F03" name="Configuration_Module" objectType="9">
            <SubObject subIndex="00" name="NumberOfEntries" objectType="7" dataType="0005" accessType="const" PDOmapping="no" defaultValue="0x06"/>
            <SubObject subIndex="01" name="TX_Cfg_Module_Control" objectType="7" dataType="0006" accessType="wo" PDOmapping="optional"/>
            <SubObject subIndex="02" name="TX_Cfg_Module_Index_Out" objectType="7" dataType="0006" accessType="wo" PDOmapping="optional"/>
            <SubObject subIndex="03" name="TX_Cfg_Module_Value_Out" objectType="7" dataType="0007" accessType="wo" PDOmapping="optional"/>
            <SubObject subIndex="04" name="RX_Cfg_Module_Status" objectType="7" dataType="0006" accessType="ro" PDOmapping="optional"/>
			<SubObject subIndex="05" name="RX_Cfg_Module_Index_In" objectType="7" dataType="0006" accessType="ro" PDOmapping="optional"/>
            <SubObject subIndex="06" name="RX_Cfg_Module_Value_In" objectType="7" dataType="0007" accessType="ro" PDOmapping="optional"/>
          </Object>
		  
          <!-- Process Monitoring Readout: RECORD -->
          <Object index="4F10" name="Process_Monitoring Readout" objectType="9">
            <SubObject subIndex="00" name="NumberOfEntries" objectType="7" dataType="0005" accessType="const" PDOmapping="no" defaultValue="0x22"/>
            <SubObject subIndex="01" name="PM Readout Control" objectType="7" dataType="0007" accessType="rw" PDOmapping="optional"/>
			<SubObject subIndex="02" name="PM Readout Status" objectType="7" dataType="0007" accessType="ro" PDOmapping="optional"/>
			<SubObject subIndex="03" name="PM Readout X-Value 01" objectType="7" dataType="0007" accessType="ro" PDOmapping="optional"/>
			<SubObject subIndex="04" name="PM Readout X-Value 02" objectType="7" dataType="0007" accessType="ro" PDOmapping="optional"/>
			<SubObject subIndex="05" name="PM Readout X-Value 03" objectType="7" dataType="0007" accessType="ro" PDOmapping="optional"/>
			<SubObject subIndex="06" name="PM Readout X-Value 04" objectType="7" dataType="0007" accessType="ro" PDOmapping="optional"/>
			<SubObject subIndex="07" name="PM Readout X-Value 05" objectType="7" dataType="0007" accessType="ro" PDOmapping="optional"/>
			<SubObject subIndex="08" name="PM Readout X-Value 06" objectType="7" dataType="0007" accessType="ro" PDOmapping="optional"/>
			<SubObject subIndex="09" name="PM Readout X-Value 07" objectType="7" dataType="0007" accessType="ro" PDOmapping="optional"/>
			<SubObject subIndex="0A" name="PM Readout X-Value 08" objectType="7" dataType="0007" accessType="ro" PDOmapping="optional"/>
			<SubObject subIndex="0B" name="PM Readout X-Value 09" objectType="7" dataType="0007" accessType="ro" PDOmapping="optional"/>
			<SubObject subIndex="0C" name="PM Readout X-Value 10" objectType="7" dataType="0007" accessType="ro" PDOmapping="optional"/>
			<SubObject subIndex="0D" name="PM Readout X-Value 11" objectType="7" dataType="0007" accessType="ro" PDOmapping="optional"/>
			<SubObject subIndex="0E" name="PM Readout X-Value 12" objectType="7" dataType="0007" accessType="ro" PDOmapping="optional"/>
			<SubObject subIndex="0F" name="PM Readout X-Value 13" objectType="7" dataType="0007" accessType="ro" PDOmapping="optional"/>
			<SubObject subIndex="10" name="PM Readout X-Value 14" objectType="7" dataType="0007" accessType="ro" PDOmapping="optional"/>
			<SubObject subIndex="11" name="PM Readout X-Value 15" objectType="7" dataType="0007" accessType="ro" PDOmapping="optional"/>
			<SubObject subIndex="12" name="PM Readout X-Value 16" objectType="7" dataType="0007" accessType="ro" PDOmapping="optional"/>
			<SubObject subIndex="13" name="PM Readout Y-Value 01" objectType="7" dataType="0007" accessType="ro" PDOmapping="optional"/>
			<SubObject subIndex="14" name="PM Readout Y-Value 02" objectType="7" dataType="0007" accessType="ro" PDOmapping="optional"/>
			<SubObject subIndex="15" name="PM Readout Y-Value 03" objectType="7" dataType="0007" accessType="ro" PDOmapping="optional"/>
			<SubObject subIndex="16" name="PM Readout Y-Value 04" objectType="7" dataType="0007" accessType="ro" PDOmapping="optional"/>
			<SubObject subIndex="17" name="PM Readout Y-Value 05" objectType="7" dataType="0007" accessType="ro" PDOmapping="optional"/>
			<SubObject subIndex="18" name="PM Readout Y-Value 06" objectType="7" dataType="0007" accessType="ro" PDOmapping="optional"/>
			<SubObject subIndex="19" name="PM Readout Y-Value 07" objectType="7" dataType="0007" accessType="ro" PDOmapping="optional"/>
			<SubObject subIndex="1A" name="PM Readout Y-Value 08" objectType="7" dataType="0007" accessType="ro" PDOmapping="optional"/>
			<SubObject subIndex="1B" name="PM Readout Y-Value 09" objectType="7" dataType="0007" accessType="ro" PDOmapping="optional"/>
			<SubObject subIndex="1C" name="PM Readout Y-Value 10" objectType="7" dataType="0007" accessType="ro" PDOmapping="optional"/>
			<SubObject subIndex="1D" name="PM Readout Y-Value 11" objectType="7" dataType="0007" accessType="ro" PDOmapping="optional"/>
			<SubObject subIndex="1E" name="PM Readout Y-Value 12" objectType="7" dataType="0007" accessType="ro" PDOmapping="optional"/>
			<SubObject subIndex="1F" name="PM Readout Y-Value 13" objectType="7" dataType="0007" accessType="ro" PDOmapping="optional"/>
			<SubObject subIndex="20" name="PM Readout Y-Value 14" objectType="7" dataType="0007" accessType="ro" PDOmapping="optional"/>
			<SubObject subIndex="21" name="PM Readout Y-Value 15" objectType="7" dataType="0007" accessType="ro" PDOmapping="optional"/>
			<SubObject subIndex="22" name="PM Readout Y-Value 16" objectType="7" dataType="0007" accessType="ro" PDOmapping="optional"/>				
          </Object>
          
          <!-- Standardised Device Profile Area (0x6000 - 0x9FFF): may be used according to a CiA device profile. The profile to be used is given by NMT_DeviceType_U32 -->
            <Object PDOmapping="optional" accessType="ro" dataType="0006" index="603F" name="Error code" objectType="7"/>
            <Object PDOmapping="optional" accessType="rw" dataType="0006" index="6040" name="Control word" objectType="7"/>
          	<Object PDOmapping="optional" accessType="ro" dataType="0006" index="6041" name="Status word" objectType="7"/>
          	<Object PDOmapping="optional" accessType="rw" dataType="0002" index="6060" name="Modes of operation" objectType="7"/>
          	<Object PDOmapping="optional" accessType="ro" dataType="0002" index="6061" name="Modes of operation display" objectType="7"/>
			<Object PDOmapping="optional" accessType="ro" dataType="0004" index="6062" name="Position demand value" objectType="7"/>
          	<Object PDOmapping="optional" accessType="ro" dataType="0004" index="6064" name="Position actual value (Profile Position)" objectType="7"/>
          	<Object PDOmapping="optional" accessType="ro" dataType="0004" index="606C" name="Velocity actual value (Profile Velocity)" objectType="7"/>
			<Object PDOmapping="optional" accessType="rw" dataType="0006" index="6072" name="Bipolar Torque/Force limit" objectType="7"/>
			<Object PDOmapping="optional" accessType="ro" dataType="0003" index="6077" name="Torque actual value" objectType="7"/>
          	<Object PDOmapping="optional" accessType="rw" dataType="0004" index="607A" name="Target position" objectType="7"/>
          	<Object PDOmapping="optional" accessType="rw" dataType="0007" index="6081" name="Profile velocity" objectType="7"/>
            <Object PDOmapping="optional" accessType="rw" dataType="0007" index="6083" name="Profile Acceleration" objectType="7"/>
            <Object PDOmapping="optional" accessType="rw" dataType="0007" index="6084" name="Profile Deceleration" objectType="7"/>
			<Object PDOmapping="optional" accessType="rw" dataType="0006" index="60E0" name="Positive Torque/Force limit" objectType="7"/>
			<Object PDOmapping="optional" accessType="rw" dataType="0006" index="60E1" name="Negative Torque/Force limit" objectType="7"/>
            <Object PDOmapping="optional" accessType="rw" dataType="0004" index="60FF" name="Target velocity" objectType="7"/>
            <Object index="60C1" name="InterpolationDataRecord" objectType="9">
            	<SubObject subIndex="00" name="NumberOfEntries" objectType="7" dataType="0005" accessType="const" PDOmapping="no" defaultValue="0x01"/>
            	<SubObject subIndex="01" name="1st set point" objectType="7" dataType="0004" accessType="wo" PDOmapping="optional"/>
          	</Object>
		  
        </ObjectList>
      </ApplicationLayers>
      <TransportLayers>
      </TransportLayers>
      <NetworkManagement>
        <GeneralFeatures
          DLLFeatureMN="false"
          DLLFeatureCN="true"
          NMTNodeIDByHW="true"
          NMTBootTimeNotActive="8000000"
          NMTCycleTimeMax="1000000"
          NMTCycleTimeMin="200"
          NMTErrorEntries="32"
          NMTExtNmtCmds="true"
          NWLIPSupport="true"
          PDORPDOChannels="1"
          SDOCmdReadAllByIndex="false"
          SDOCmdReadByName="false"
          SDOCmdWriteAllByIndex="false"
          SDOCmdWriteByName="false"
          SDOCmdWriteMultParam="false"
          SDOMaxConnections="5"
          SDOMaxParallelConnections="5"
          SDOServer="true"
          SDOClient="false"
          SDOSupportASnd="true"
          SDOSupportUdpIp="true"
          />
        <CNFeatures
          DLLCNFeatureMultiplex="true"
          NMTCNSoC2PReq="0"
          />
        <Diagnostic>
        </Diagnostic>
      </NetworkManagement>
    </ProfileBody>
  </ISO15745Profile>
</ISO15745ProfileContainer>
