<?xml version="1.0"?>
<EtherCATInfo xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd" Version="1.6">
	<Vendor>
		<Id>#x4C4E5449</Id>
		<Name>NTI AG</Name>
		<ImageData16x14>424d76000000000000003e00000028000000100000000e000000010001000000000038000000c40e0000c40e0000000000000000000000000000ffffff00000000000000000000000000444400004c4400004c4400005c44000054440000744400006444000065f40000000000000000000000000000</ImageData16x14>			
	</Vendor>
	<Descriptions>
		<Groups>
			<Group SortOrder="200">
				<Type>CiA402 Drives</Type>
				<Name LcId="1033">CiA402 Drives</Name>
				<ImageData16x14>424DD6020000000000003600000028000000100000000E0000000100180000000000A0020000C40E0000C40E00000000000000000000FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF808080808080808080808080808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0FF0000C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FF000000FF00FFFF00FFFF00FFC0C0C0FF0000FF0000FF0000808080FF00FF000000000000000000000000000000000000000000FF00FFFF00FFFF00FFC0C0C0C0C0C0FF0000C0C0C0808080FF00FF0000000000000000000000000000000000000000000000FF0000FFFF00FFC0C0C0C0C0C0FF0000C0C0C0808080FF00FF000000000000000000000000000000000000000000FF00FFFF00FFFF00FFC0C0C0C0C0C0FF0000C0C0C0808080FF00FFFF00FFFF00FFFF00FF000000FF00FFFF00FF000000FF00FFFF00FFFF00FFC0C0C0C0C0C0FF0000C0C0C0808080FF00FF000000000000000000000000FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0FF0000C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0FF0000C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0FF0000C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FF</ImageData16x14>			
			</Group>
		</Groups>
		<Devices>
			<Device Physics="YY">	<!-- C1150-DS-XC-0S -->
				<Type ProductCode="#x00960971" RevisionNo="#x00010007">C1150-DS-XC-0S</Type>
				<Name LcId="1033"><![CDATA[C1150-DS-XC-0S V1.7b4]]></Name>
				<URL>http://www.linmot.com</URL>
				<Info>
					<StateMachine>
						<Behavior StartToSafeopNoSync="true"/>
					</StateMachine>
				</Info>
				<GroupType>CiA402 Drives</GroupType>
				<Profile>
					<ProfileNo>402</ProfileNo>
					<ChannelCount>1</ChannelCount>
					<Dictionary>
						<DataTypes>
							<DataType>
								<Name>BIT2</Name>
								<BitSize>2</BitSize>
							</DataType>
							<DataType>
								<Name>BIT3</Name>
								<BitSize>3</BitSize>
							</DataType>
							<DataType>
								<Name>BOOL</Name>
								<BitSize>1</BitSize>
							</DataType>
							<DataType>
								<Name>DINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<Name>INT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<Name>WORD</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<Name>UDINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<Name>UINT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<Name>USINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<Name>SINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<Name>STRING(11)</Name>
								<BitSize>88</BitSize>
							</DataType>
							<DataType>
								<Name>STRING(2)</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<Name>STRING(4)</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<Name>STRING(32)</Name>
								<BitSize>256</BitSize>
							</DataType>
							<DataType>
								<Name>DT1018</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Vendor ID</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Product code</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Revision</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Serial number</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1600</Name>
								<BitSize>272</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Output Object 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Output Object 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Output Object 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Output Object 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Output Object 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Output Object 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Output Object 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Output Object 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1602</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Controlword</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Target position</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mode of Operation</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Padding Byte</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1603</Name>
								<BitSize>176</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Controlword</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Target position</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Target velocity</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mode of Operation</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Padding Byte</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1604</Name>
								<BitSize>208</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Controlword</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Target position</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Target velocity</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Target torque</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mode of Operation</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Padding Byte</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1606</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Controlword</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Target torque</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mode of Operation</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Padding Byte</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1700</Name>
								<BitSize>240</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>ControlWord</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>MotionCommandHeader</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Motion Command Par 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Motion Command Par 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Motion Command Par 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Motion Command Par 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Motion Command Par 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1701</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>ControlWord</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>SetpointPosition</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Setpoint Velocity</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Setpoint Acceleration</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1708</Name>
								<BitSize>112</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Config ControlWord</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Config Index Out</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Config Value Out</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A00</Name>
								<BitSize>272</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Input Object 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Input Object 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Input Object 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Input Object 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Input Object 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Input Object 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Input Object 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Input Object 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A02</Name>
								<BitSize>208</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Statusword</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Position actual value</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>DemandPosition</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>DemandCurrent</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mode of Operation display</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Padding Byte</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1B00</Name>
								<BitSize>208</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>StateVar</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>StatusWord</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>WarnWord</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>DemandPosition</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>ActualPosition</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>DemandCurrent</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1B08</Name>
								<BitSize>112</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Config Status Word</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Config Index In</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Config Value In</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>							
							<DataType>
								<Name>DT1B10</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Input Dem Vel</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>							
							<DataType>
								<Name>DT1B11</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Input Act Vel</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>							
							<DataType>
								<Name>DT1B12</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Input Act Vel Filt</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>							
							<DataType>
								<Name>DT1C00ARR</Name>
								<BaseType>USINT</BaseType>
								<BitSize>32</BitSize>
								<ArrayInfo>
									<LBound>1</LBound>
									<Elements>4</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>DT1C00</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<Name>Elements</Name>
									<Type>DT1C00ARR</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C1XARR</Name>
								<BaseType>UINT</BaseType>
								<BitSize>128</BitSize>
								<ArrayInfo>
									<LBound>1</LBound>
									<Elements>8</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>DT1C1X</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<Name>Elements</Name>
									<Type>DT1C1XARR</Type>
									<BitSize>128</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
						</DataTypes>
						<Objects>
							<Object>
								<Index>#x1000</Index>
								<Name>Device type</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>92010200</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>m</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1008</Index>
								<Name>Device name</Name>
								<Type>STRING(11)</Type>
								<BitSize>88</BitSize>
								<Info>
									<DefaultData>3030303030303030303030</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>m</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1009</Index>
								<Name>Hardware version</Name>
								<Type>STRING(4)</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>30303030</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x100A</Index>
								<Name>Software version</Name>
								<Type>STRING(32)</Type>
								<BitSize>256</BitSize>
								<Info>
									<DefaultData>3030303030303030303030303030303030303030303030303030303030303030</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1018</Index>
								<Name>Identity</Name>
								<Type>DT1018</Type>
								<BitSize>144</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>04</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Vendor ID</Name>
										<Info>
										<!--	<DefaultData>4C4E5449</DefaultData> -->
											<DefaultData>49544E4C</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Product code</Name>
										<Info>
										<!--	<DefaultData>0096094E</DefaultData> -->
											<DefaultData>4E099600</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Revision</Name>
										<Info>
										<!--	<DefaultData>00001006</DefaultData> -->
											<DefaultData>07000100</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Serial number</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1602</Index>
								<Name>Cyclic Position Mode</Name>
								<Type>DT1602</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1603</Index>
								<Name>Cyclic Position Velocity Mode</Name>
								<Type>DT1603</Type>
								<BitSize>176</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1604</Index>
								<Name>Cyclic Position Velocity Torque Mode</Name>
								<Type>DT1604</Type>
								<BitSize>208</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1606</Index>
								<Name>Cyclic Torque Mode</Name>
								<Type>DT1606</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1620</Index>
								<Name>User Defined Outputs</Name>
								<Type>DT1600</Type>
								<BitSize>272</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1708</Index>
								<Name>Config Module</Name>
								<Type>DT1708</Type>
								<BitSize>112</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1A02</Index>
								<Name>Cyclic Mode Inputs</Name>
								<Type>DT1A02</Type>
								<BitSize>208</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1A20</Index>
								<Name>User Defined Inputs</Name>
								<Type>DT1A00</Type>
								<BitSize>272</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1b08</Index>
								<Name>Config Module</Name>
								<Type>DT1B08</Type>
								<BitSize>112</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1b10</Index>
								<Name>Input DemVel</Name>
								<Type>DT1B10</Type>
								<BitSize>48</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1b11</Index>
								<Name>Input ActVel</Name>
								<Type>DT1B11</Type>
								<BitSize>48</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1b12</Index>
								<Name>Input ActVelFilt</Name>
								<Type>DT1B12</Type>
								<BitSize>48</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1c00</Index>
								<Name>Sync Man Communication type</Name>
								<Type>DT1C00</Type>
								<BitSize>48</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1C12</Index>
								<Name>Sync Manager 2 PDO Assignment</Name>
								<Type>DT1C1X</Type>
								<BitSize>144</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultValue>01</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 001</Name>
										<Info>
											<DefaultValue>#x1603</DefaultValue>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1C13</Index>
								<Name>Sync Manager 3 PDO Assignment</Name>
								<Type>DT1C1X</Type>
								<BitSize>144</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultValue>01</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 001</Name>
										<Info>
											<DefaultValue>#x1A02</DefaultValue>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x6007</Index>
								<Name>Abort connection option code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x603F</Index>
								<Name>Error code</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x6040</Index>
								<Name>Controlword</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6041</Index>
								<Name>Statusword</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6060</Index>
								<Name>Mode of Operation</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6061</Index>
								<Name>Mode of Operation display</Name>
								<Type>SINT</Type>
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								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
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							<Object>
								<Index>#x6064</Index>
								<Name>Position actual value ( units )</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x607a</Index>
								<Name>Target position</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
<!--							<Object>
								<Index>#x60e0</Index>
								<Name>TorqueLimitPositiv</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
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							<Object>
								<Index>#x60e1</Index>
								<Name>TorqueLimitNegativ</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>	-->
							<Object>
								<Index>#x60FF</Index>
								<Name>Target velocity</Name>
								<Comment>Command speed for the csv mode</Comment>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
<!--								<Info>
									<MinData>01000080</MinData>
									<MaxData>FFFFFF7F</MaxData>
									<DefaultData>00000000</DefaultData>
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								<Flags>
									<Access>rw</Access>
									<PdoMapping>RT</PdoMapping>
								</Flags>
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					</Dictionary>
				</Profile>
				<Fmmu>Outputs</Fmmu>
				<Fmmu>Inputs</Fmmu>
				<Fmmu>MBoxState</Fmmu>
				<Sm MinSize="32" MaxSize="128" DefaultSize="128" StartAddress="#x1A00" ControlByte="#x26" Enable="1">MBoxOut</Sm>
				<Sm MinSize="32" MaxSize="128" DefaultSize="128" StartAddress="#x1C00" ControlByte="#x22" Enable="1">MBoxIn</Sm>
				<Sm MinSize="0" MaxSize="256" DefaultSize="12" StartAddress="#x1100" ControlByte="#x64" Enable="1">Outputs</Sm>
				<Sm MinSize="0" MaxSize="256" DefaultSize="16" StartAddress="#x1500" ControlByte="#x20" Enable="1">Inputs</Sm>
				<RxPdo Fixed="1">
					<Index>#x1602</Index>
					<Name>Cylic Position Mode</Name>
					<Exclude>#x1603</Exclude>
					<Exclude>#x1604</Exclude>
					<Exclude>#x1606</Exclude>
				<Exclude>#x1606</Exclude>
					<Entry>
						<Index>#x6040</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Controlword</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x607A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target position</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Mode of Operation</Name>
						<DataType>SINT</DataType>
					</Entry>
					<Entry>
						<Index>#x0000</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Byte Padding</Name>
						<DataType>USINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="1" Sm="2">
					<Index>#x1603</Index>
					<Name>Cylic Position Velocity Mode</Name>
					<Exclude>#x1602</Exclude>
					<Exclude>#x1604</Exclude>
					<Exclude>#x1606</Exclude>
					<Entry>
						<Index>#x6040</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Controlword</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x607A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target position</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60FF</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target velocity</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Mode of Operation</Name>
						<DataType>SINT</DataType>
					</Entry>
					<Entry>
						<Index>#x0000</Index>
						<SubIndex>0</SubIndex>
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						<Name>Byte Padding</Name>
						<DataType>USINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="1">
					<Index>#x1604</Index>
					<Name>Cylic Position Velocity Torque Mode</Name>
					<Exclude>#x1602</Exclude>
					<Exclude>#x1603</Exclude>
					<Exclude>#x1606</Exclude>
					<Entry>
						<Index>#x6040</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Controlword</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x607A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target position</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60FF</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target velocity</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6071</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Target torque</Name>
						<DataType>INT</DataType>
					</Entry>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Mode of Operation</Name>
						<DataType>SINT</DataType>
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						<Name>Byte Padding</Name>
						<DataType>USINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="1">
					<Index>#x1606</Index>
					<Name>Cylic Torque Mode</Name>
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					<Exclude>#x1603</Exclude>
					<Exclude>#x1604</Exclude>
					<Entry>
						<Index>#x6040</Index>
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						<Name>Controlword</Name>
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					<Entry>
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						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Target torque</Name>
						<DataType>INT</DataType>
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					<Entry>
						<Index>#x6060</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Mode of Operation</Name>
						<DataType>SINT</DataType>
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					<Entry>
						<Index>#x0000</Index>
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						<Name>Byte Padding</Name>
						<DataType>USINT</DataType>
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				</RxPdo>
				<RxPdo Fixed="0">
					<Index>#x1620</Index>
					<Name>User Defined Outputs</Name>
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				<RxPdo Fixed="1">
					<Index>#x1708</Index>
					<Name>Config Module</Name>
					<Entry>
						<Index>#x1709</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Config Control Word</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x170A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Config Index Out</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x170B</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Config Value Out</Name>
						<DataType>DINT</DataType>
					</Entry>										
				</RxPdo>
				<RxPdo Fixed="1">
					<Index>#x1710</Index>
					<Name>Max Current Set A</Name>
					<Entry>
						<Index>#x13A6</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Max Current Set A</Name>
						<DataType>UDINT</DataType>
					</Entry>										
				</RxPdo>
				<TxPdo Fixed="1" Sm="3">
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					<Name>Cylic Mode Inputs</Name>
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						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Statusword</Name>
						<DataType>UINT</DataType>
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					<Entry>
						<Index>#x6064</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Position actual value (units)</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x1B8A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>DemandPosition</Name>
						<DataType>DINT</DataType>
					</Entry>										
					<Entry>
						<Index>#x1B93</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>DemandCurrent</Name>
						<DataType>DINT</DataType>
					</Entry>										
					<Entry>
						<Index>#x6061</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Mode of Operation display</Name>
						<DataType>SINT</DataType>
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						<Name>Byte Padding</Name>
						<DataType>USINT</DataType>
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				</TxPdo>
				<TxPdo Fixed="0">
					<Index>#x1A20</Index>
					<Name>User Defined Inputs</Name>
				</TxPdo>
				<TxPdo Fixed="1">
					<Index>#x1b08</Index>
					<Name>Config Module</Name>
					<Entry>
						<Index>#x1B09</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Config Status Word</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x1B0A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Config Index In</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x1B0B</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Config Value In</Name>
						<DataType>DINT</DataType>
					</Entry>										
				</TxPdo>
				<TxPdo Fixed="1">
					<Index>#x1b10</Index>
					<Name>Input DemVel</Name>
					<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>
					<Entry>
						<Index>#x1B8E</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>ActualVelocity</Name>
						<DataType>DINT</DataType>
					</Entry>										
				</TxPdo>
				<TxPdo Fixed="1">
					<Index>#x1b12</Index>
					<Name>Input ActVelFilt</Name>
					<Entry>
						<Index>#x1BAF</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>ActualVelocityFilt</Name>
						<DataType>DINT</DataType>
					</Entry>										
				</TxPdo>
				<TxPdo Fixed="1">
					<Index>#x1b16</Index>
					<Name>Input DemCurrFilt</Name>
					<Entry>
						<Index>#x1B98</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>DemandCurrentFilt</Name>
						<DataType>DINT</DataType>
					</Entry>										
				</TxPdo>
				<Mailbox DataLinkLayer="true">
					<AoE AdsRouter="1" GenerateOwnNetId="1" InitializeOwnNetId="1"/>
					<CoE SdoInfo="0" PdoAssign="1" PdoConfig="1" PdoUpload="0" CompleteAccess="0" SegmentedSdo="0" DiagHistory="0"/>
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				<Dc>
					<OpMode>
						<Name>DC</Name>
						<Desc>DC-Synchron</Desc>
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						<ShiftTimeSync0>0</ShiftTimeSync0>
						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
					</OpMode>
					<OpMode>
						<Name>Synchron</Name>
						<Desc>SM-Synchron</Desc>
						<AssignActivate>#x0</AssignActivate>
						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
						<ShiftTimeSync0>0</ShiftTimeSync0>
						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
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				</Dc>
				<Eeprom>
					<ByteSize>2048</ByteSize>
					<ConfigData>080400CCE803</ConfigData>
				</Eeprom>
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			</Device>		
			<Device Physics="YY">	<!-- C1150-DS-XC-1S -->
				<Type ProductCode="#x00960972" RevisionNo="#x00010007">C1150-DS-XC-1S</Type>
				<Name LcId="1033"><![CDATA[C1150-DS-XC-1S V1.7b4]]></Name>
				<URL>http://www.linmot.com</URL>
				<Info>
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						<Behavior StartToSafeopNoSync="true"/>
					</StateMachine>
				</Info>
				<GroupType>CiA402 Drives</GroupType>
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					<ProfileNo>402</ProfileNo>
					<ChannelCount>1</ChannelCount>
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								<Name>BOOL</Name>
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								<Name>DINT</Name>
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							</DataType>
							<DataType>
								<Name>INT</Name>
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							</DataType>
							<DataType>
								<Name>WORD</Name>
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							</DataType>
							<DataType>
								<Name>UDINT</Name>
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							</DataType>
							<DataType>
								<Name>UINT</Name>
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							</DataType>
							<DataType>
								<Name>USINT</Name>
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							</DataType>
							<DataType>
								<Name>SINT</Name>
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							<DataType>
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							<DataType>
								<Name>STRING(32)</Name>
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							<DataType>
								<Name>DT1018</Name>
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									<Name>SubIndex 000</Name>
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								<SubItem>
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									<Name>Product code</Name>
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									<Name>Revision</Name>
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									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
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								<SubItem>
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									<Name>Serial number</Name>
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									<Flags>
										<Access>ro</Access>
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							<DataType>
								<Name>DT1600</Name>
								<BitSize>272</BitSize>
								<SubItem>
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									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Output Object 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Output Object 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Output Object 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Output Object 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Output Object 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Output Object 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Output Object 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Output Object 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1602</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Controlword</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Target position</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mode of Operation</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Padding Byte</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1603</Name>
								<BitSize>176</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Controlword</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Target position</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Target velocity</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mode of Operation</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Padding Byte</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1604</Name>
								<BitSize>208</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Controlword</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Target position</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Target velocity</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Target torque</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mode of Operation</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Padding Byte</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1606</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Controlword</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Target torque</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mode of Operation</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Padding Byte</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1700</Name>
								<BitSize>240</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>ControlWord</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>MotionCommandHeader</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Motion Command Par 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Motion Command Par 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Motion Command Par 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Motion Command Par 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Motion Command Par 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1701</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>ControlWord</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>SetpointPosition</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Setpoint Velocity</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Setpoint Acceleration</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1708</Name>
								<BitSize>112</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Config ControlWord</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Config Index Out</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Config Value Out</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A00</Name>
								<BitSize>272</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Input Object 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Input Object 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Input Object 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Input Object 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Input Object 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Input Object 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Input Object 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Input Object 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A02</Name>
								<BitSize>208</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Statusword</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Position actual value</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>DemandPosition</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>DemandCurrent</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mode of Operation display</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
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										<Access>ro</Access>
										<Category>o</Category>
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								<Name>DT1B00</Name>
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										<Access>ro</Access>
										<Category>o</Category>
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										<Access>ro</Access>
										<Category>o</Category>
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									<Name>WarnWord</Name>
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									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
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								<SubItem>
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									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
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								<SubItem>
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										<Access>ro</Access>
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										<Access>ro</Access>
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							<DataType>
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										<Access>ro</Access>
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								<SubItem>
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									<Name>Config Status Word</Name>
									<Type>UDINT</Type>
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									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
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								</SubItem>
								<SubItem>
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									<Name>Config Index In</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
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								<SubItem>
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									<Name>Config Value In</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
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									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
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							</DataType>							
							<DataType>
								<Name>DT1B10</Name>
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								<SubItem>
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										<Access>ro</Access>
										<Category>o</Category>
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								</SubItem>
							</DataType>							
							<DataType>
								<Name>DT1B11</Name>
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								<SubItem>
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									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
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									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Input Act Vel</Name>
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									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>							
							<DataType>
								<Name>DT1B12</Name>
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								<SubItem>
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									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
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										<Access>ro</Access>
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								<SubItem>
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									<Name>Input Act Vel Filt</Name>
									<Type>UDINT</Type>
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									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>							
							<DataType>
								<Name>DT1C00ARR</Name>
								<BaseType>USINT</BaseType>
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							</DataType>
							<DataType>
								<Name>DT1C00</Name>
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								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
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								<SubItem>
									<Name>Elements</Name>
									<Type>DT1C00ARR</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
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							</DataType>
							<DataType>
								<Name>DT1C1XARR</Name>
								<BaseType>UINT</BaseType>
								<BitSize>128</BitSize>
								<ArrayInfo>
									<LBound>1</LBound>
									<Elements>8</Elements>
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							</DataType>
							<DataType>
								<Name>DT1C1X</Name>
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								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
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									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<Name>Elements</Name>
									<Type>DT1C1XARR</Type>
									<BitSize>128</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
						</DataTypes>
						<Objects>
							<Object>
								<Index>#x1000</Index>
								<Name>Device type</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>92010200</DefaultData>
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								<Flags>
									<Access>ro</Access>
									<Category>m</Category>
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							<Object>
								<Index>#x1008</Index>
								<Name>Device name</Name>
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									<DefaultData>3030303030303030303030</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>m</Category>
								</Flags>
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							<Object>
								<Index>#x1009</Index>
								<Name>Hardware version</Name>
								<Type>STRING(4)</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>30303030</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x100A</Index>
								<Name>Software version</Name>
								<Type>STRING(32)</Type>
								<BitSize>256</BitSize>
								<Info>
									<DefaultData>3030303030303030303030303030303030303030303030303030303030303030</DefaultData>
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								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
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							</Object>
							<Object>
								<Index>#x1018</Index>
								<Name>Identity</Name>
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								<BitSize>144</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>04</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Vendor ID</Name>
										<Info>
										<!--	<DefaultData>4C4E5449</DefaultData> -->
											<DefaultData>49544E4C</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Product code</Name>
										<Info>
										<!--	<DefaultData>0096094E</DefaultData> -->
											<DefaultData>4F099600</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Revision</Name>
										<Info>
										<!--	<DefaultData>00001006</DefaultData> -->
											<DefaultData>07000100</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Serial number</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1602</Index>
								<Name>Cyclic Position Mode</Name>
								<Type>DT1602</Type>
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								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1603</Index>
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								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1604</Index>
								<Name>Cyclic Position Velocity Torque Mode</Name>
								<Type>DT1604</Type>
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								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
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							<Object>
								<Index>#x1606</Index>
								<Name>Cyclic Torque Mode</Name>
								<Type>DT1606</Type>
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								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1620</Index>
								<Name>User Defined Outputs</Name>
								<Type>DT1600</Type>
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								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
								</Flags>
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							<Object>
								<Index>#x1708</Index>
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								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1A02</Index>
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								<Type>DT1A02</Type>
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								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
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							<Object>
								<Index>#x1A20</Index>
								<Name>User Defined Inputs</Name>
								<Type>DT1A00</Type>
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								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1b08</Index>
								<Name>Config Module</Name>
								<Type>DT1B08</Type>
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								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1b10</Index>
								<Name>Input DemVel</Name>
								<Type>DT1B10</Type>
								<BitSize>48</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1b11</Index>
								<Name>Input ActVel</Name>
								<Type>DT1B11</Type>
								<BitSize>48</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1b12</Index>
								<Name>Input ActVelFilt</Name>
								<Type>DT1B12</Type>
								<BitSize>48</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1c00</Index>
								<Name>Sync Man Communication type</Name>
								<Type>DT1C00</Type>
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								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1C12</Index>
								<Name>Sync Manager 2 PDO Assignment</Name>
								<Type>DT1C1X</Type>
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								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultValue>01</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 001</Name>
										<Info>
											<DefaultValue>#x1603</DefaultValue>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1C13</Index>
								<Name>Sync Manager 3 PDO Assignment</Name>
								<Type>DT1C1X</Type>
								<BitSize>144</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultValue>01</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 001</Name>
										<Info>
											<DefaultValue>#x1A02</DefaultValue>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x6007</Index>
								<Name>Abort connection option code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x603F</Index>
								<Name>Error code</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x6040</Index>
								<Name>Controlword</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6041</Index>
								<Name>Statusword</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6060</Index>
								<Name>Mode of Operation</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6061</Index>
								<Name>Mode of Operation display</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6064</Index>
								<Name>Position actual value ( units )</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x607a</Index>
								<Name>Target position</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
<!--							<Object>
								<Index>#x60e0</Index>
								<Name>TorqueLimitPositiv</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60e1</Index>
								<Name>TorqueLimitNegativ</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>	-->
							<Object>
								<Index>#x60FF</Index>
								<Name>Target velocity</Name>
								<Comment>Command speed for the csv mode</Comment>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
<!--								<Info>
									<MinData>01000080</MinData>
									<MaxData>FFFFFF7F</MaxData>
									<DefaultData>00000000</DefaultData>
								</Info> -->
								<Flags>
									<Access>rw</Access>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
						</Objects>
					</Dictionary>
				</Profile>
				<Fmmu>Outputs</Fmmu>
				<Fmmu>Inputs</Fmmu>
				<Fmmu>MBoxState</Fmmu>
				<Sm MinSize="32" MaxSize="128" DefaultSize="128" StartAddress="#x1A00" ControlByte="#x26" Enable="1">MBoxOut</Sm>
				<Sm MinSize="32" MaxSize="128" DefaultSize="128" StartAddress="#x1C00" ControlByte="#x22" Enable="1">MBoxIn</Sm>
				<Sm MinSize="0" MaxSize="256" DefaultSize="12" StartAddress="#x1100" ControlByte="#x64" Enable="1">Outputs</Sm>
				<Sm MinSize="0" MaxSize="256" DefaultSize="16" StartAddress="#x1500" ControlByte="#x20" Enable="1">Inputs</Sm>
				<RxPdo Fixed="1">
					<Index>#x1602</Index>
					<Name>Cylic Position Mode</Name>
					<Exclude>#x1603</Exclude>
					<Exclude>#x1604</Exclude>
					<Exclude>#x1606</Exclude>
					<Entry>
						<Index>#x6040</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Controlword</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x607A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target position</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Mode of Operation</Name>
						<DataType>SINT</DataType>
					</Entry>
					<Entry>
						<Index>#x0000</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Byte Padding</Name>
						<DataType>USINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="1" Sm="2">
					<Index>#x1603</Index>
					<Name>Cylic Position Velocity Mode</Name>
					<Exclude>#x1602</Exclude>
					<Exclude>#x1604</Exclude>
					<Exclude>#x1606</Exclude>
					<Entry>
						<Index>#x6040</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Controlword</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x607A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target position</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60FF</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target velocity</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Mode of Operation</Name>
						<DataType>SINT</DataType>
					</Entry>
					<Entry>
						<Index>#x0000</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Byte Padding</Name>
						<DataType>USINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="1">
					<Index>#x1604</Index>
					<Name>Cylic Position Velocity Torque Mode</Name>
					<Exclude>#x1602</Exclude>
					<Exclude>#x1603</Exclude>
					<Exclude>#x1606</Exclude>
					<Entry>
						<Index>#x6040</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Controlword</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x607A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target position</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60FF</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target velocity</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6071</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Target torque</Name>
						<DataType>INT</DataType>
					</Entry>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Mode of Operation</Name>
						<DataType>SINT</DataType>
					</Entry>
					<Entry>
						<Index>#x0000</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Byte Padding</Name>
						<DataType>USINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="1">
					<Index>#x1606</Index>
					<Name>Cylic Torque Mode</Name>
					<Exclude>#x1602</Exclude>
					<Exclude>#x1603</Exclude>
					<Exclude>#x1604</Exclude>
					<Entry>
						<Index>#x6040</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Controlword</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6071</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Target torque</Name>
						<DataType>INT</DataType>
					</Entry>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Mode of Operation</Name>
						<DataType>SINT</DataType>
					</Entry>
					<Entry>
						<Index>#x0000</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Byte Padding</Name>
						<DataType>USINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="0">
					<Index>#x1620</Index>
					<Name>User Defined Outputs</Name>
				</RxPdo>
				<RxPdo Fixed="1">
					<Index>#x1708</Index>
					<Name>Config Module</Name>
					<Entry>
						<Index>#x1709</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Config Control Word</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x170A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Config Index Out</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x170B</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Config Value Out</Name>
						<DataType>DINT</DataType>
					</Entry>										
				</RxPdo>
				<RxPdo Fixed="1">
					<Index>#x1710</Index>
					<Name>Max Current Set A</Name>
					<Entry>
						<Index>#x13A6</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Max Current Set A</Name>
						<DataType>UDINT</DataType>
					</Entry>										
				</RxPdo>
				<TxPdo Fixed="1" Sm="3">
					<Index>#x1A02</Index>
					<Name>Cylic Mode Inputs</Name>
					<Entry>
						<Index>#x6041</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Statusword</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6064</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Position actual value (units)</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x1B8A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>DemandPosition</Name>
						<DataType>DINT</DataType>
					</Entry>										
					<Entry>
						<Index>#x1B93</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>DemandCurrent</Name>
						<DataType>DINT</DataType>
					</Entry>										
					<Entry>
						<Index>#x6061</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Mode of Operation display</Name>
						<DataType>SINT</DataType>
					</Entry>
					<Entry>
						<Index>#x0000</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Byte Padding</Name>
						<DataType>USINT</DataType>
					</Entry>
				</TxPdo>
				<TxPdo Fixed="0">
					<Index>#x1A20</Index>
					<Name>User Defined Inputs</Name>
				</TxPdo>
				<TxPdo Fixed="1">
					<Index>#x1b08</Index>
					<Name>Config Module</Name>
					<Entry>
						<Index>#x1B09</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Config Status Word</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x1B0A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Config Index In</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x1B0B</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Config Value In</Name>
						<DataType>DINT</DataType>
					</Entry>										
				</TxPdo>
				<TxPdo Fixed="1">
					<Index>#x1b10</Index>
					<Name>Input DemVel</Name>
					<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>
					<Entry>
						<Index>#x1B8E</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>ActualVelocity</Name>
						<DataType>DINT</DataType>
					</Entry>										
				</TxPdo>
				<TxPdo Fixed="1">
					<Index>#x1b12</Index>
					<Name>Input ActVelFilt</Name>
					<Entry>
						<Index>#x1BAF</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>ActualVelocityFilt</Name>
						<DataType>DINT</DataType>
					</Entry>										
				</TxPdo>
				<TxPdo Fixed="1">
					<Index>#x1b16</Index>
					<Name>Input DemCurrFilt</Name>
					<Entry>
						<Index>#x1B98</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>DemandCurrentFilt</Name>
						<DataType>DINT</DataType>
					</Entry>										
				</TxPdo>
				<Mailbox DataLinkLayer="true">
					<AoE AdsRouter="1" GenerateOwnNetId="1" InitializeOwnNetId="1"/>
					<CoE SdoInfo="0" PdoAssign="1" PdoConfig="1" PdoUpload="0" CompleteAccess="0" SegmentedSdo="0" DiagHistory="0"/>
				</Mailbox>
				<Dc>
					<OpMode>
						<Name>DC</Name>
						<Desc>DC-Synchron</Desc>
						<AssignActivate>#x300</AssignActivate>
						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
						<ShiftTimeSync0>0</ShiftTimeSync0>
						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
					</OpMode>
					<OpMode>
						<Name>Synchron</Name>
						<Desc>SM-Synchron</Desc>
						<AssignActivate>#x0</AssignActivate>
						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
						<ShiftTimeSync0>0</ShiftTimeSync0>
						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
					</OpMode>
				</Dc>
				<Eeprom>
					<ByteSize>2048</ByteSize>
					<ConfigData>080400CCE803</ConfigData>
				</Eeprom>
				<ImageData16x14>424de6000000000000007600000028000000100000000e000000010004000000000070000000130b0000130b00000000000000000000105210001884180031313100424242005a5a5a0063a5630063ad63006bb56b007b7b7b0084848400849484008cad8c008cb58c00a5b5a500b5b5b500ffffff00ffffff9898ffffffffffff8888ffffffffffff8888ffffffffffffeee9ffffffffffffeedaffffffffffffed77ffffffffffffee77ffffffffffffeeacffffffffffffe244ffffffffffffe344ffffffffffffb75bffffffffffff7107ffffffffffff7107ffffffffffffc65cffffff</ImageData16x14>
			</Device>		
			<Device Physics="YY">	<!-- C1250-DS-XC-0S -->
				<Type ProductCode="#x0096096F" RevisionNo="#x00010008">C1250-DS-XC-0S</Type>
				<Name LcId="1033"><![CDATA[C1250-DS-XC-0S V1.8b4]]></Name>
				<URL>http://www.linmot.com</URL>
				<Info>
					<StateMachine>
						<Behavior StartToSafeopNoSync="true"/>
					</StateMachine>
				</Info>
				<GroupType>CiA402 Drives</GroupType>
				<Profile>
					<ProfileNo>402</ProfileNo>
					<ChannelCount>1</ChannelCount>
					<Dictionary>
						<DataTypes>
							<DataType>
								<Name>BIT2</Name>
								<BitSize>2</BitSize>
							</DataType>
							<DataType>
								<Name>BIT3</Name>
								<BitSize>3</BitSize>
							</DataType>
							<DataType>
								<Name>BOOL</Name>
								<BitSize>1</BitSize>
							</DataType>
							<DataType>
								<Name>DINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<Name>INT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<Name>WORD</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<Name>UDINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<Name>UINT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<Name>USINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<Name>SINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<Name>STRING(11)</Name>
								<BitSize>88</BitSize>
							</DataType>
							<DataType>
								<Name>STRING(2)</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<Name>STRING(4)</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<Name>STRING(32)</Name>
								<BitSize>256</BitSize>
							</DataType>
							<DataType>
								<Name>DT1018</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Vendor ID</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Product code</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Revision</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Serial number</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1600</Name>
								<BitSize>272</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Output Object 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Output Object 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Output Object 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Output Object 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Output Object 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Output Object 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Output Object 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Output Object 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1602</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Controlword</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Target position</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mode of Operation</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Padding Byte</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1603</Name>
								<BitSize>176</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Controlword</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Target position</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Target velocity</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mode of Operation</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Padding Byte</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1604</Name>
								<BitSize>208</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Controlword</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Target position</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Target velocity</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Target torque</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mode of Operation</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Padding Byte</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1606</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Controlword</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Target torque</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mode of Operation</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Padding Byte</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1700</Name>
								<BitSize>240</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>ControlWord</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>MotionCommandHeader</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Motion Command Par 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Motion Command Par 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Motion Command Par 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Motion Command Par 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Motion Command Par 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1701</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>ControlWord</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>SetpointPosition</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Setpoint Velocity</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Setpoint Acceleration</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1708</Name>
								<BitSize>112</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Config ControlWord</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Config Index Out</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Config Value Out</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A00</Name>
								<BitSize>272</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Input Object 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Input Object 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Input Object 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Input Object 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Input Object 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Input Object 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Input Object 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Input Object 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A02</Name>
								<BitSize>208</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Statusword</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Position actual value</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>DemandPosition</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>DemandCurrent</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mode of Operation display</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Padding Byte</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1B00</Name>
								<BitSize>208</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>StateVar</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>StatusWord</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>WarnWord</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>DemandPosition</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>ActualPosition</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>DemandCurrent</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1B08</Name>
								<BitSize>112</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Config Status Word</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Config Index In</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Config Value In</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>							
							<DataType>
								<Name>DT1B10</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Input Dem Vel</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>							
							<DataType>
								<Name>DT1B11</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Input Act Vel</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>							
							<DataType>
								<Name>DT1B12</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Input Act Vel Filt</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>							
							<DataType>
								<Name>DT1C00ARR</Name>
								<BaseType>USINT</BaseType>
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									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
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								<SubItem>
									<Name>Elements</Name>
									<Type>DT1C00ARR</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
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									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C1XARR</Name>
								<BaseType>UINT</BaseType>
								<BitSize>128</BitSize>
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									<LBound>1</LBound>
									<Elements>8</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>DT1C1X</Name>
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								<SubItem>
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									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<Name>Elements</Name>
									<Type>DT1C1XARR</Type>
									<BitSize>128</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
						</DataTypes>
						<Objects>
							<Object>
								<Index>#x1000</Index>
								<Name>Device type</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>92010200</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>m</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1008</Index>
								<Name>Device name</Name>
								<Type>STRING(11)</Type>
								<BitSize>88</BitSize>
								<Info>
									<DefaultData>3030303030303030303030</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>m</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1009</Index>
								<Name>Hardware version</Name>
								<Type>STRING(4)</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>30303030</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x100A</Index>
								<Name>Software version</Name>
								<Type>STRING(32)</Type>
								<BitSize>256</BitSize>
								<Info>
									<DefaultData>3030303030303030303030303030303030303030303030303030303030303030</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1018</Index>
								<Name>Identity</Name>
								<Type>DT1018</Type>
								<BitSize>144</BitSize>
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										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>04</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Vendor ID</Name>
										<Info>
										<!--	<DefaultData>4C4E5449</DefaultData> -->
											<DefaultData>49544E4C</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Product code</Name>
										<Info>
										<!--	<DefaultData>0096075C</DefaultData> -->
											<DefaultData>5C079600</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Revision</Name>
										<Info>
										<!--	<DefaultData>00001006</DefaultData> -->
											<DefaultData>07000100</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Serial number</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1602</Index>
								<Name>Cyclic Position Mode</Name>
								<Type>DT1602</Type>
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								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
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							<Object>
								<Index>#x1603</Index>
								<Name>Cyclic Position Velocity Mode</Name>
								<Type>DT1603</Type>
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								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1604</Index>
								<Name>Cyclic Position Velocity Torque Mode</Name>
								<Type>DT1604</Type>
								<BitSize>208</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1606</Index>
								<Name>Cyclic Torque Mode</Name>
								<Type>DT1606</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1620</Index>
								<Name>User Defined Outputs</Name>
								<Type>DT1600</Type>
								<BitSize>272</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1708</Index>
								<Name>Config Module</Name>
								<Type>DT1708</Type>
								<BitSize>112</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
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								<Index>#x1A02</Index>
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								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
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								<Type>DT1A00</Type>
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								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
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							</Object>
							<Object>
								<Index>#x1b08</Index>
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								<Type>DT1B08</Type>
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								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1b10</Index>
								<Name>Input DemVel</Name>
								<Type>DT1B10</Type>
								<BitSize>48</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
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							<Object>
								<Index>#x1b11</Index>
								<Name>Input ActVel</Name>
								<Type>DT1B11</Type>
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								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1b12</Index>
								<Name>Input ActVelFilt</Name>
								<Type>DT1B12</Type>
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								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1c00</Index>
								<Name>Sync Man Communication type</Name>
								<Type>DT1C00</Type>
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								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
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								<Index>#x1C12</Index>
								<Name>Sync Manager 2 PDO Assignment</Name>
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								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultValue>01</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 001</Name>
										<Info>
											<DefaultValue>#x1603</DefaultValue>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
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								<Index>#x1C13</Index>
								<Name>Sync Manager 3 PDO Assignment</Name>
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								<BitSize>144</BitSize>
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									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultValue>01</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 001</Name>
										<Info>
											<DefaultValue>#x1A02</DefaultValue>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x6007</Index>
								<Name>Abort connection option code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x603F</Index>
								<Name>Error code</Name>
								<Type>DINT</Type>
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								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x6040</Index>
								<Name>Controlword</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6041</Index>
								<Name>Statusword</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6060</Index>
								<Name>Mode of Operation</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6061</Index>
								<Name>Mode of Operation display</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6064</Index>
								<Name>Position actual value ( units )</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x607a</Index>
								<Name>Target position</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
<!--							<Object>
								<Index>#x60e0</Index>
								<Name>TorqueLimitPositiv</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60e1</Index>
								<Name>TorqueLimitNegativ</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>	-->
							<Object>
								<Index>#x60FF</Index>
								<Name>Target velocity</Name>
								<Comment>Command speed for the csv mode</Comment>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
<!--								<Info>
									<MinData>01000080</MinData>
									<MaxData>FFFFFF7F</MaxData>
									<DefaultData>00000000</DefaultData>
								</Info> -->
								<Flags>
									<Access>rw</Access>
									<PdoMapping>RT</PdoMapping>
								</Flags>
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						</Objects>
					</Dictionary>
				</Profile>
				<Fmmu>Outputs</Fmmu>
				<Fmmu>Inputs</Fmmu>
				<Fmmu>MBoxState</Fmmu>
				<Sm MinSize="32" MaxSize="128" DefaultSize="128" StartAddress="#x1A00" ControlByte="#x26" Enable="1">MBoxOut</Sm>
				<Sm MinSize="32" MaxSize="128" DefaultSize="128" StartAddress="#x1C00" ControlByte="#x22" Enable="1">MBoxIn</Sm>
				<Sm MinSize="0" MaxSize="256" DefaultSize="12" StartAddress="#x1100" ControlByte="#x64" Enable="1">Outputs</Sm>
				<Sm MinSize="0" MaxSize="256" DefaultSize="16" StartAddress="#x1500" ControlByte="#x20" Enable="1">Inputs</Sm>
				<RxPdo Fixed="1">
					<Index>#x1602</Index>
					<Name>Cylic Position Mode</Name>
					<Exclude>#x1603</Exclude>
					<Exclude>#x1604</Exclude>
					<Exclude>#x1606</Exclude>
					<Entry>
						<Index>#x6040</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Controlword</Name>
						<DataType>UINT</DataType>
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					<Entry>
						<Index>#x607A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target position</Name>
						<DataType>DINT</DataType>
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						<Index>#x6060</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Mode of Operation</Name>
						<DataType>SINT</DataType>
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						<SubIndex>0</SubIndex>
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						<Name>Byte Padding</Name>
						<DataType>USINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="1" Sm="2">
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					<Exclude>#x1604</Exclude>
					<Exclude>#x1606</Exclude>
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						<Index>#x6040</Index>
						<SubIndex>0</SubIndex>
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						<Name>Controlword</Name>
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					<Entry>
						<Index>#x607A</Index>
						<SubIndex>0</SubIndex>
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						<Name>Target position</Name>
						<DataType>DINT</DataType>
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					<Entry>
						<Index>#x60FF</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target velocity</Name>
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						<Name>Mode of Operation</Name>
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						<Name>Byte Padding</Name>
						<DataType>USINT</DataType>
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				<RxPdo Fixed="1">
					<Index>#x1604</Index>
					<Name>Cylic Position Velocity Torque Mode</Name>
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					<Exclude>#x1603</Exclude>
					<Exclude>#x1606</Exclude>
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						<Index>#x6040</Index>
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						<Name>Controlword</Name>
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					<Entry>
						<Index>#x607A</Index>
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						<BitLen>32</BitLen>
						<Name>Target position</Name>
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					<Entry>
						<Index>#x60FF</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target velocity</Name>
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					<Entry>
						<Index>#x6071</Index>
						<SubIndex>0</SubIndex>
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						<Name>Target torque</Name>
						<DataType>INT</DataType>
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						<Index>#x6060</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Mode of Operation</Name>
						<DataType>SINT</DataType>
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						<BitLen>8</BitLen>
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						<DataType>USINT</DataType>
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				</RxPdo>
				<RxPdo Fixed="1">
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					<Name>Cylic Torque Mode</Name>
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					<Exclude>#x1603</Exclude>
					<Exclude>#x1604</Exclude>
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						<Index>#x6040</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Controlword</Name>
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					<Entry>
						<Index>#x6071</Index>
						<SubIndex>0</SubIndex>
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						<Name>Target torque</Name>
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					<Entry>
						<Index>#x6060</Index>
						<SubIndex>0</SubIndex>
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						<Name>Mode of Operation</Name>
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				<RxPdo Fixed="0">
					<Index>#x1620</Index>
					<Name>User Defined Outputs</Name>
				</RxPdo>
				<RxPdo Fixed="1">
					<Index>#x1708</Index>
					<Name>Config Module</Name>
					<Entry>
						<Index>#x1709</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Config Control Word</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x170A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Config Index Out</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x170B</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Config Value Out</Name>
						<DataType>DINT</DataType>
					</Entry>										
				</RxPdo>
				<RxPdo Fixed="1">
					<Index>#x1710</Index>
					<Name>Max Current Set A</Name>
					<Entry>
						<Index>#x13A6</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Max Current Set A</Name>
						<DataType>UDINT</DataType>
					</Entry>										
				</RxPdo>
				<TxPdo Fixed="1" Sm="3">
					<Index>#x1A02</Index>
					<Name>Cylic Mode Inputs</Name>
					<Entry>
						<Index>#x6041</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Statusword</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6064</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Position actual value (units)</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x1B8A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>DemandPosition</Name>
						<DataType>DINT</DataType>
					</Entry>										
					<Entry>
						<Index>#x1B93</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>DemandCurrent</Name>
						<DataType>DINT</DataType>
					</Entry>										
					<Entry>
						<Index>#x6061</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Mode of Operation display</Name>
						<DataType>SINT</DataType>
					</Entry>
					<Entry>
						<Index>#x0000</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Byte Padding</Name>
						<DataType>USINT</DataType>
					</Entry>
				</TxPdo>
				<TxPdo Fixed="0">
					<Index>#x1A20</Index>
					<Name>User Defined Inputs</Name>
				</TxPdo>
				<TxPdo Fixed="1">
					<Index>#x1b08</Index>
					<Name>Config Module</Name>
					<Entry>
						<Index>#x1B09</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Config Status Word</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x1B0A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Config Index In</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x1B0B</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Config Value In</Name>
						<DataType>DINT</DataType>
					</Entry>										
				</TxPdo>
				<TxPdo Fixed="1">
					<Index>#x1b10</Index>
					<Name>Input DemVel</Name>
					<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>
					<Entry>
						<Index>#x1B8E</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>ActualVelocity</Name>
						<DataType>DINT</DataType>
					</Entry>										
				</TxPdo>
				<TxPdo Fixed="1">
					<Index>#x1b12</Index>
					<Name>Input ActVelFilt</Name>
					<Entry>
						<Index>#x1BAF</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>ActualVelocityFilt</Name>
						<DataType>DINT</DataType>
					</Entry>										
				</TxPdo>
				<TxPdo Fixed="1">
					<Index>#x1b16</Index>
					<Name>Input DemCurrFilt</Name>
					<Entry>
						<Index>#x1B98</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>DemandCurrentFilt</Name>
						<DataType>DINT</DataType>
					</Entry>										
				</TxPdo>
				<Mailbox DataLinkLayer="true">
					<AoE AdsRouter="1" GenerateOwnNetId="1" InitializeOwnNetId="1"/>
					<!-- EtherNET over EtherCAT -->
					<EoE	MAC="1"	 IP="1"	TimeStamp="0"/>
					<CoE SdoInfo="0" PdoAssign="1" PdoConfig="1" PdoUpload="0" CompleteAccess="0" SegmentedSdo="0" DiagHistory="0"/>
				</Mailbox>
				<Dc>
					<OpMode>
						<Name>DC</Name>
						<Desc>DC-Synchron</Desc>
						<AssignActivate>#x300</AssignActivate>
						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
						<ShiftTimeSync0>0</ShiftTimeSync0>
						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
					</OpMode>
					<OpMode>
						<Name>Synchron</Name>
						<Desc>SM-Synchron</Desc>
						<AssignActivate>#x0</AssignActivate>
						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
						<ShiftTimeSync0>0</ShiftTimeSync0>
						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
					</OpMode>
				</Dc>
				<Eeprom>
					<ByteSize>2048</ByteSize>
					<ConfigData>080400CCE803</ConfigData>
				</Eeprom>
				<ImageData16x14>424de6000000000000007600000028000000100000000e000000010004000000000070000000130b0000130b00000000000000000000105210001884180031313100424242005a5a5a0063a5630063ad63006bb56b007b7b7b0084848400849484008cad8c008cb58c00a5b5a500b5b5b500ffffff00ffffff9898ffffffffffff8888ffffffffffff8888ffffffffffffeee9ffffffffffffeedaffffffffffffed77ffffffffffffee77ffffffffffffeeacffffffffffffe244ffffffffffffe344ffffffffffffb75bffffffffffff7107ffffffffffff7107ffffffffffffc65cffffff</ImageData16x14>
			</Device>			
			<Device Physics="YY">	<!-- C1250-DS-XC-1S -->
				<Type ProductCode="#x00960970" RevisionNo="#x00010008">C1250-DS-XC-1S</Type>
				<Name LcId="1033"><![CDATA[C1250-DS-XC-1S V1.8b4]]></Name>
				<URL>http://www.linmot.com</URL>
				<Info>
					<StateMachine>
						<Behavior StartToSafeopNoSync="true"/>
					</StateMachine>
				</Info>
				<GroupType>CiA402 Drives</GroupType>
				<Profile>
					<ProfileNo>402</ProfileNo>
					<ChannelCount>1</ChannelCount>
					<Dictionary>
						<DataTypes>
							<DataType>
								<Name>BIT2</Name>
								<BitSize>2</BitSize>
							</DataType>
							<DataType>
								<Name>BIT3</Name>
								<BitSize>3</BitSize>
							</DataType>
							<DataType>
								<Name>BOOL</Name>
								<BitSize>1</BitSize>
							</DataType>
							<DataType>
								<Name>DINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<Name>INT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<Name>WORD</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<Name>UDINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<Name>UINT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<Name>USINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<Name>SINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<Name>STRING(11)</Name>
								<BitSize>88</BitSize>
							</DataType>
							<DataType>
								<Name>STRING(2)</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<Name>STRING(4)</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<Name>STRING(32)</Name>
								<BitSize>256</BitSize>
							</DataType>
							<DataType>
								<Name>DT1018</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Vendor ID</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Product code</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Revision</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Serial number</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1600</Name>
								<BitSize>272</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Output Object 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Output Object 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Output Object 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Output Object 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Output Object 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Output Object 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Output Object 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Output Object 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1602</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Controlword</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Target position</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mode of Operation</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Padding Byte</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1603</Name>
								<BitSize>176</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Controlword</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Target position</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Target velocity</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mode of Operation</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Padding Byte</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1604</Name>
								<BitSize>208</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Controlword</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Target position</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Target velocity</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Target torque</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mode of Operation</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Padding Byte</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1606</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Controlword</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Target torque</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mode of Operation</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Padding Byte</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1700</Name>
								<BitSize>240</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>ControlWord</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>MotionCommandHeader</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Motion Command Par 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Motion Command Par 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Motion Command Par 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Motion Command Par 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Motion Command Par 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1701</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>ControlWord</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>SetpointPosition</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Setpoint Velocity</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Setpoint Acceleration</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1708</Name>
								<BitSize>112</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Config ControlWord</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Config Index Out</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Config Value Out</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A00</Name>
								<BitSize>272</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Input Object 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Input Object 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Input Object 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Input Object 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Input Object 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Input Object 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Input Object 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Input Object 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A02</Name>
								<BitSize>208</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Statusword</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Position actual value</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>DemandPosition</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>DemandCurrent</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mode of Operation display</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Padding Byte</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1B00</Name>
								<BitSize>208</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>StateVar</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>StatusWord</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>WarnWord</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>DemandPosition</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>ActualPosition</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>DemandCurrent</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1B08</Name>
								<BitSize>112</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Config Status Word</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Config Index In</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Config Value In</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>							
							<DataType>
								<Name>DT1B10</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Input Dem Vel</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>							
							<DataType>
								<Name>DT1B11</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Input Act Vel</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>							
							<DataType>
								<Name>DT1B12</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Input Act Vel Filt</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>							
							<DataType>
								<Name>DT1C00ARR</Name>
								<BaseType>USINT</BaseType>
								<BitSize>32</BitSize>
								<ArrayInfo>
									<LBound>1</LBound>
									<Elements>4</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>DT1C00</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<Name>Elements</Name>
									<Type>DT1C00ARR</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C1XARR</Name>
								<BaseType>UINT</BaseType>
								<BitSize>128</BitSize>
								<ArrayInfo>
									<LBound>1</LBound>
									<Elements>8</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>DT1C1X</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<Name>Elements</Name>
									<Type>DT1C1XARR</Type>
									<BitSize>128</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
						</DataTypes>
						<Objects>
							<Object>
								<Index>#x1000</Index>
								<Name>Device type</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>92010200</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>m</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1008</Index>
								<Name>Device name</Name>
								<Type>STRING(11)</Type>
								<BitSize>88</BitSize>
								<Info>
									<DefaultData>3030303030303030303030</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>m</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1009</Index>
								<Name>Hardware version</Name>
								<Type>STRING(4)</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>30303030</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x100A</Index>
								<Name>Software version</Name>
								<Type>STRING(32)</Type>
								<BitSize>256</BitSize>
								<Info>
									<DefaultData>3030303030303030303030303030303030303030303030303030303030303030</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1018</Index>
								<Name>Identity</Name>
								<Type>DT1018</Type>
								<BitSize>144</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>04</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Vendor ID</Name>
										<Info>
										<!--	<DefaultData>4C4E5449</DefaultData> -->
											<DefaultData>49544E4C</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Product code</Name>
										<Info>
										<!--	<DefaultData>0096075C</DefaultData> -->
											<DefaultData>29099600</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Revision</Name>
										<Info>
										<!--	<DefaultData>00001006</DefaultData> -->
											<DefaultData>07000100</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Serial number</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1602</Index>
								<Name>Cyclic Position Mode</Name>
								<Type>DT1602</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1603</Index>
								<Name>Cyclic Position Velocity Mode</Name>
								<Type>DT1603</Type>
								<BitSize>176</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1604</Index>
								<Name>Cyclic Position Velocity Torque Mode</Name>
								<Type>DT1604</Type>
								<BitSize>208</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1606</Index>
								<Name>Cyclic Torque Mode</Name>
								<Type>DT1606</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1620</Index>
								<Name>User Defined Outputs</Name>
								<Type>DT1600</Type>
								<BitSize>272</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1708</Index>
								<Name>Config Module</Name>
								<Type>DT1708</Type>
								<BitSize>112</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1A02</Index>
								<Name>Cyclic Mode Inputs</Name>
								<Type>DT1A02</Type>
								<BitSize>208</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1A20</Index>
								<Name>User Defined Inputs</Name>
								<Type>DT1A00</Type>
								<BitSize>272</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1b08</Index>
								<Name>Config Module</Name>
								<Type>DT1B08</Type>
								<BitSize>112</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1b10</Index>
								<Name>Input DemVel</Name>
								<Type>DT1B10</Type>
								<BitSize>48</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1b11</Index>
								<Name>Input ActVel</Name>
								<Type>DT1B11</Type>
								<BitSize>48</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1b12</Index>
								<Name>Input ActVelFilt</Name>
								<Type>DT1B12</Type>
								<BitSize>48</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1c00</Index>
								<Name>Sync Man Communication type</Name>
								<Type>DT1C00</Type>
								<BitSize>48</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1C12</Index>
								<Name>Sync Manager 2 PDO Assignment</Name>
								<Type>DT1C1X</Type>
								<BitSize>144</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultValue>01</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 001</Name>
										<Info>
											<DefaultValue>#x1603</DefaultValue>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1C13</Index>
								<Name>Sync Manager 3 PDO Assignment</Name>
								<Type>DT1C1X</Type>
								<BitSize>144</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultValue>01</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 001</Name>
										<Info>
											<DefaultValue>#x1A02</DefaultValue>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x6007</Index>
								<Name>Abort connection option code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x603F</Index>
								<Name>Error code</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x6040</Index>
								<Name>Controlword</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6041</Index>
								<Name>Statusword</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6060</Index>
								<Name>Mode of Operation</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6061</Index>
								<Name>Mode of Operation display</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6064</Index>
								<Name>Position actual value ( units )</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x607a</Index>
								<Name>Target position</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
<!--							<Object>
								<Index>#x60e0</Index>
								<Name>TorqueLimitPositiv</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60e1</Index>
								<Name>TorqueLimitNegativ</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>	-->
							<Object>
								<Index>#x60FF</Index>
								<Name>Target velocity</Name>
								<Comment>Command speed for the csv mode</Comment>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
<!--								<Info>
									<MinData>01000080</MinData>
									<MaxData>FFFFFF7F</MaxData>
									<DefaultData>00000000</DefaultData>
								</Info> -->
								<Flags>
									<Access>rw</Access>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
						</Objects>
					</Dictionary>
				</Profile>
				<Fmmu>Outputs</Fmmu>
				<Fmmu>Inputs</Fmmu>
				<Fmmu>MBoxState</Fmmu>
				<Sm MinSize="32" MaxSize="128" DefaultSize="128" StartAddress="#x1A00" ControlByte="#x26" Enable="1">MBoxOut</Sm>
				<Sm MinSize="32" MaxSize="128" DefaultSize="128" StartAddress="#x1C00" ControlByte="#x22" Enable="1">MBoxIn</Sm>
				<Sm MinSize="0" MaxSize="256" DefaultSize="12" StartAddress="#x1100" ControlByte="#x64" Enable="1">Outputs</Sm>
				<Sm MinSize="0" MaxSize="256" DefaultSize="16" StartAddress="#x1500" ControlByte="#x20" Enable="1">Inputs</Sm>
				<RxPdo Fixed="1">
					<Index>#x1602</Index>
					<Name>Cylic Position Mode</Name>
					<Exclude>#x1603</Exclude>
					<Exclude>#x1604</Exclude>
					<Exclude>#x1606</Exclude>
					<Entry>
						<Index>#x6040</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Controlword</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x607A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target position</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Mode of Operation</Name>
						<DataType>SINT</DataType>
					</Entry>
					<Entry>
						<Index>#x0000</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Byte Padding</Name>
						<DataType>USINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="1" Sm="2">
					<Index>#x1603</Index>
					<Name>Cylic Position Velocity Mode</Name>
					<Exclude>#x1602</Exclude>
					<Exclude>#x1604</Exclude>
					<Exclude>#x1606</Exclude>
					<Entry>
						<Index>#x6040</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Controlword</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x607A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target position</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60FF</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target velocity</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Mode of Operation</Name>
						<DataType>SINT</DataType>
					</Entry>
					<Entry>
						<Index>#x0000</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Byte Padding</Name>
						<DataType>USINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="1">
					<Index>#x1604</Index>
					<Name>Cylic Position Velocity Torque Mode</Name>
					<Exclude>#x1602</Exclude>
					<Exclude>#x1603</Exclude>
					<Exclude>#x1606</Exclude>
					<Entry>
						<Index>#x6040</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Controlword</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x607A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target position</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60FF</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target velocity</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6071</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Target torque</Name>
						<DataType>INT</DataType>
					</Entry>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Mode of Operation</Name>
						<DataType>SINT</DataType>
					</Entry>
					<Entry>
						<Index>#x0000</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Byte Padding</Name>
						<DataType>USINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="1">
					<Index>#x1606</Index>
					<Name>Cylic Torque Mode</Name>
					<Exclude>#x1602</Exclude>
					<Exclude>#x1603</Exclude>
					<Exclude>#x1604</Exclude>
					<Entry>
						<Index>#x6040</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Controlword</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6071</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Target torque</Name>
						<DataType>INT</DataType>
					</Entry>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Mode of Operation</Name>
						<DataType>SINT</DataType>
					</Entry>
					<Entry>
						<Index>#x0000</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Byte Padding</Name>
						<DataType>USINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="0">
					<Index>#x1620</Index>
					<Name>User Defined Outputs</Name>
				</RxPdo>
				<RxPdo Fixed="1">
					<Index>#x1708</Index>
					<Name>Config Module</Name>
					<Entry>
						<Index>#x1709</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Config Control Word</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x170A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Config Index Out</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x170B</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Config Value Out</Name>
						<DataType>DINT</DataType>
					</Entry>										
				</RxPdo>
				<RxPdo Fixed="1">
					<Index>#x1710</Index>
					<Name>Max Current Set A</Name>
					<Entry>
						<Index>#x13A6</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Max Current Set A</Name>
						<DataType>UDINT</DataType>
					</Entry>										
				</RxPdo>
				<TxPdo Fixed="1" Sm="3">
					<Index>#x1A02</Index>
					<Name>Cylic Mode Inputs</Name>
					<Entry>
						<Index>#x6041</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Statusword</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6064</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Position actual value (units)</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x1B8A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>DemandPosition</Name>
						<DataType>DINT</DataType>
					</Entry>										
					<Entry>
						<Index>#x1B93</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>DemandCurrent</Name>
						<DataType>DINT</DataType>
					</Entry>										
					<Entry>
						<Index>#x6061</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Mode of Operation display</Name>
						<DataType>SINT</DataType>
					</Entry>
					<Entry>
						<Index>#x0000</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Byte Padding</Name>
						<DataType>USINT</DataType>
					</Entry>
				</TxPdo>
				<TxPdo Fixed="0">
					<Index>#x1A20</Index>
					<Name>User Defined Inputs</Name>
				</TxPdo>
				<TxPdo Fixed="1">
					<Index>#x1b08</Index>
					<Name>Config Module</Name>
					<Entry>
						<Index>#x1B09</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Config Status Word</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x1B0A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Config Index In</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x1B0B</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Config Value In</Name>
						<DataType>DINT</DataType>
					</Entry>										
				</TxPdo>
				<TxPdo Fixed="1">
					<Index>#x1b10</Index>
					<Name>Input DemVel</Name>
					<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>
					<Entry>
						<Index>#x1B8E</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>ActualVelocity</Name>
						<DataType>DINT</DataType>
					</Entry>										
				</TxPdo>
				<TxPdo Fixed="1">
					<Index>#x1b12</Index>
					<Name>Input ActVelFilt</Name>
					<Entry>
						<Index>#x1BAF</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>ActualVelocityFilt</Name>
						<DataType>DINT</DataType>
					</Entry>										
				</TxPdo>
				<TxPdo Fixed="1">
					<Index>#x1b16</Index>
					<Name>Input DemCurrFilt</Name>
					<Entry>
						<Index>#x1B98</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>DemandCurrentFilt</Name>
						<DataType>DINT</DataType>
					</Entry>										
				</TxPdo>
				<Mailbox DataLinkLayer="true">
					<AoE AdsRouter="1" GenerateOwnNetId="1" InitializeOwnNetId="1"/>
					<!-- EtherNET over EtherCAT -->
					<EoE	MAC="1"	 IP="1"	TimeStamp="0"/>
					<CoE SdoInfo="0" PdoAssign="1" PdoConfig="1" PdoUpload="0" CompleteAccess="0" SegmentedSdo="0" DiagHistory="0"/>
				</Mailbox>
				<Dc>
					<OpMode>
						<Name>DC</Name>
						<Desc>DC-Synchron</Desc>
						<AssignActivate>#x300</AssignActivate>
						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
						<ShiftTimeSync0>0</ShiftTimeSync0>
						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
					</OpMode>
					<OpMode>
						<Name>Synchron</Name>
						<Desc>SM-Synchron</Desc>
						<AssignActivate>#x0</AssignActivate>
						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
						<ShiftTimeSync0>0</ShiftTimeSync0>
						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
					</OpMode>
				</Dc>
				<Eeprom>
					<ByteSize>2048</ByteSize>
					<ConfigData>080400CCE803</ConfigData>
				</Eeprom>
				<ImageData16x14>424de6000000000000007600000028000000100000000e000000010004000000000070000000130b0000130b00000000000000000000105210001884180031313100424242005a5a5a0063a5630063ad63006bb56b007b7b7b0084848400849484008cad8c008cb58c00a5b5a500b5b5b500ffffff00ffffff9898ffffffffffff8888ffffffffffff8888ffffffffffffeee9ffffffffffffeedaffffffffffffed77ffffffffffffee77ffffffffffffeeacffffffffffffe244ffffffffffffe344ffffffffffffb75bffffffffffff7107ffffffffffff7107ffffffffffffc65cffffff</ImageData16x14>
			</Device>			
			<Device Physics="YY">	<!-- C1450-DS-VS-0S -->
				<Type ProductCode="#x00960A4C" RevisionNo="#x00010008">C1450-DS-VS-0S</Type>
				<Name LcId="1033"><![CDATA[C1450-DS-VS-0S V1.8b4]]></Name>
				<URL>http://www.linmot.com</URL>
				<Info>
					<StateMachine>
						<Behavior StartToSafeopNoSync="true"/>
					</StateMachine>
				</Info>
				<GroupType>CiA402 Drives</GroupType>
				<Profile>
					<ProfileNo>402</ProfileNo>
					<ChannelCount>1</ChannelCount>
					<Dictionary>
						<DataTypes>
							<DataType>
								<Name>BIT2</Name>
								<BitSize>2</BitSize>
							</DataType>
							<DataType>
								<Name>BIT3</Name>
								<BitSize>3</BitSize>
							</DataType>
							<DataType>
								<Name>BOOL</Name>
								<BitSize>1</BitSize>
							</DataType>
							<DataType>
								<Name>DINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<Name>INT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<Name>WORD</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<Name>UDINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<Name>UINT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<Name>USINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<Name>SINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<Name>STRING(11)</Name>
								<BitSize>88</BitSize>
							</DataType>
							<DataType>
								<Name>STRING(2)</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<Name>STRING(4)</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<Name>STRING(32)</Name>
								<BitSize>256</BitSize>
							</DataType>
							<DataType>
								<Name>DT1018</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Vendor ID</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Product code</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Revision</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Serial number</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1600</Name>
								<BitSize>272</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Output Object 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Output Object 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Output Object 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Output Object 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Output Object 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Output Object 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Output Object 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Output Object 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1602</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Controlword</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Target position</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mode of Operation</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Padding Byte</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1603</Name>
								<BitSize>176</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Controlword</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Target position</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Target velocity</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mode of Operation</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Padding Byte</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1604</Name>
								<BitSize>208</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Controlword</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Target position</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Target velocity</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Target torque</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mode of Operation</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Padding Byte</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1606</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Controlword</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Target torque</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mode of Operation</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Padding Byte</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1700</Name>
								<BitSize>240</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>ControlWord</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>MotionCommandHeader</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Motion Command Par 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Motion Command Par 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Motion Command Par 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Motion Command Par 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Motion Command Par 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1701</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>ControlWord</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>SetpointPosition</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Setpoint Velocity</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Setpoint Acceleration</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1708</Name>
								<BitSize>112</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Config ControlWord</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Config Index Out</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Config Value Out</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A00</Name>
								<BitSize>272</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Input Object 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Input Object 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Input Object 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Input Object 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Input Object 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Input Object 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Input Object 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Input Object 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A02</Name>
								<BitSize>208</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Statusword</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Position actual value</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>DemandPosition</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>DemandCurrent</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mode of Operation display</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Padding Byte</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1B00</Name>
								<BitSize>208</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>StateVar</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>StatusWord</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>WarnWord</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>DemandPosition</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>ActualPosition</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>DemandCurrent</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1B08</Name>
								<BitSize>112</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Config Status Word</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Config Index In</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Config Value In</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>							
							<DataType>
								<Name>DT1B10</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Input Dem Vel</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>							
							<DataType>
								<Name>DT1B11</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
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									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Input Act Vel</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>							
							<DataType>
								<Name>DT1B12</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Input Act Vel Filt</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>							
							<DataType>
								<Name>DT1C00ARR</Name>
								<BaseType>USINT</BaseType>
								<BitSize>32</BitSize>
								<ArrayInfo>
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									<Elements>4</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>DT1C00</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<Name>Elements</Name>
									<Type>DT1C00ARR</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C1XARR</Name>
								<BaseType>UINT</BaseType>
								<BitSize>128</BitSize>
								<ArrayInfo>
									<LBound>1</LBound>
									<Elements>8</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>DT1C1X</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<Name>Elements</Name>
									<Type>DT1C1XARR</Type>
									<BitSize>128</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
						</DataTypes>
						<Objects>
							<Object>
								<Index>#x1000</Index>
								<Name>Device type</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>92010200</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>m</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1008</Index>
								<Name>Device name</Name>
								<Type>STRING(11)</Type>
								<BitSize>88</BitSize>
								<Info>
									<DefaultData>3030303030303030303030</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>m</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1009</Index>
								<Name>Hardware version</Name>
								<Type>STRING(4)</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>30303030</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x100A</Index>
								<Name>Software version</Name>
								<Type>STRING(32)</Type>
								<BitSize>256</BitSize>
								<Info>
									<DefaultData>3030303030303030303030303030303030303030303030303030303030303030</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1018</Index>
								<Name>Identity</Name>
								<Type>DT1018</Type>
								<BitSize>144</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>04</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Vendor ID</Name>
										<Info>
										<!--	<DefaultData>4C4E5449</DefaultData> -->
											<DefaultData>49544E4C</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Product code</Name>
										<Info>
										<!--	<DefaultData>00960A4C</DefaultData> -->
											<DefaultData>4C0A9600</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Revision</Name>
										<Info>
										<!--	<DefaultData>00001007</DefaultData> -->
											<DefaultData>07000100</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Serial number</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1602</Index>
								<Name>Cyclic Position Mode</Name>
								<Type>DT1602</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1603</Index>
								<Name>Cyclic Position Velocity Mode</Name>
								<Type>DT1603</Type>
								<BitSize>176</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1604</Index>
								<Name>Cyclic Position Velocity Torque Mode</Name>
								<Type>DT1604</Type>
								<BitSize>208</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1606</Index>
								<Name>Cyclic Torque Mode</Name>
								<Type>DT1606</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1620</Index>
								<Name>User Defined Outputs</Name>
								<Type>DT1600</Type>
								<BitSize>272</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1708</Index>
								<Name>Config Module</Name>
								<Type>DT1708</Type>
								<BitSize>112</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1A02</Index>
								<Name>Cyclic Mode Inputs</Name>
								<Type>DT1A02</Type>
								<BitSize>208</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1A20</Index>
								<Name>User Defined Inputs</Name>
								<Type>DT1A00</Type>
								<BitSize>272</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1b08</Index>
								<Name>Config Module</Name>
								<Type>DT1B08</Type>
								<BitSize>112</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1b10</Index>
								<Name>Input DemVel</Name>
								<Type>DT1B10</Type>
								<BitSize>48</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1b11</Index>
								<Name>Input ActVel</Name>
								<Type>DT1B11</Type>
								<BitSize>48</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1b12</Index>
								<Name>Input ActVelFilt</Name>
								<Type>DT1B12</Type>
								<BitSize>48</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1c00</Index>
								<Name>Sync Man Communication type</Name>
								<Type>DT1C00</Type>
								<BitSize>48</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1C12</Index>
								<Name>Sync Manager 2 PDO Assignment</Name>
								<Type>DT1C1X</Type>
								<BitSize>144</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultValue>01</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 001</Name>
										<Info>
											<DefaultValue>#x1603</DefaultValue>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1C13</Index>
								<Name>Sync Manager 3 PDO Assignment</Name>
								<Type>DT1C1X</Type>
								<BitSize>144</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultValue>01</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 001</Name>
										<Info>
											<DefaultValue>#x1A02</DefaultValue>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x6007</Index>
								<Name>Abort connection option code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x603F</Index>
								<Name>Error code</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x6040</Index>
								<Name>Controlword</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6041</Index>
								<Name>Statusword</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6060</Index>
								<Name>Mode of Operation</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6061</Index>
								<Name>Mode of Operation display</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6064</Index>
								<Name>Position actual value ( units )</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x607a</Index>
								<Name>Target position</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
<!--							<Object>
								<Index>#x60e0</Index>
								<Name>TorqueLimitPositiv</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60e1</Index>
								<Name>TorqueLimitNegativ</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>	-->
							<Object>
								<Index>#x60FF</Index>
								<Name>Target velocity</Name>
								<Comment>Command speed for the csv mode</Comment>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
<!--								<Info>
									<MinData>01000080</MinData>
									<MaxData>FFFFFF7F</MaxData>
									<DefaultData>00000000</DefaultData>
								</Info> -->
								<Flags>
									<Access>rw</Access>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
						</Objects>
					</Dictionary>
				</Profile>
				<Fmmu>Outputs</Fmmu>
				<Fmmu>Inputs</Fmmu>
				<Fmmu>MBoxState</Fmmu>
				<Sm MinSize="32" MaxSize="128" DefaultSize="128" StartAddress="#x1A00" ControlByte="#x26" Enable="1">MBoxOut</Sm>
				<Sm MinSize="32" MaxSize="128" DefaultSize="128" StartAddress="#x1C00" ControlByte="#x22" Enable="1">MBoxIn</Sm>
				<Sm MinSize="0" MaxSize="256" DefaultSize="12" StartAddress="#x1100" ControlByte="#x64" Enable="1">Outputs</Sm>
				<Sm MinSize="0" MaxSize="256" DefaultSize="16" StartAddress="#x1500" ControlByte="#x20" Enable="1">Inputs</Sm>
				<RxPdo Fixed="1">
					<Index>#x1602</Index>
					<Name>Cylic Position Mode</Name>
					<Exclude>#x1603</Exclude>
					<Exclude>#x1604</Exclude>
					<Exclude>#x1606</Exclude>
					<Entry>
						<Index>#x6040</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Controlword</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x607A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target position</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Mode of Operation</Name>
						<DataType>SINT</DataType>
					</Entry>
					<Entry>
						<Index>#x0000</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Byte Padding</Name>
						<DataType>USINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="1" Sm="2">
					<Index>#x1603</Index>
					<Name>Cylic Position Velocity Mode</Name>
					<Exclude>#x1602</Exclude>
					<Exclude>#x1604</Exclude>
					<Exclude>#x1606</Exclude>
					<Entry>
						<Index>#x6040</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Controlword</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x607A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target position</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60FF</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target velocity</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Mode of Operation</Name>
						<DataType>SINT</DataType>
					</Entry>
					<Entry>
						<Index>#x0000</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Byte Padding</Name>
						<DataType>USINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="1">
					<Index>#x1604</Index>
					<Name>Cylic Position Velocity Torque Mode</Name>
					<Exclude>#x1602</Exclude>
					<Exclude>#x1603</Exclude>
					<Exclude>#x1606</Exclude>
					<Entry>
						<Index>#x6040</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Controlword</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x607A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target position</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60FF</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target velocity</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6071</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Target torque</Name>
						<DataType>INT</DataType>
					</Entry>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Mode of Operation</Name>
						<DataType>SINT</DataType>
					</Entry>
					<Entry>
						<Index>#x0000</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Byte Padding</Name>
						<DataType>USINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="1">
					<Index>#x1606</Index>
					<Name>Cylic Torque Mode</Name>
					<Exclude>#x1602</Exclude>
					<Exclude>#x1603</Exclude>
					<Exclude>#x1604</Exclude>
					<Entry>
						<Index>#x6040</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Controlword</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6071</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Target torque</Name>
						<DataType>INT</DataType>
					</Entry>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Mode of Operation</Name>
						<DataType>SINT</DataType>
					</Entry>
					<Entry>
						<Index>#x0000</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Byte Padding</Name>
						<DataType>USINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="0">
					<Index>#x1620</Index>
					<Name>User Defined Outputs</Name>
				</RxPdo>
				<RxPdo Fixed="1">
					<Index>#x1708</Index>
					<Name>Config Module</Name>
					<Entry>
						<Index>#x1709</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Config Control Word</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x170A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Config Index Out</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x170B</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Config Value Out</Name>
						<DataType>DINT</DataType>
					</Entry>										
				</RxPdo>
				<RxPdo Fixed="1">
					<Index>#x1710</Index>
					<Name>Max Current Set A</Name>
					<Entry>
						<Index>#x13A6</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Max Current Set A</Name>
						<DataType>UDINT</DataType>
					</Entry>										
				</RxPdo>
				<TxPdo Fixed="1" Sm="3">
					<Index>#x1A02</Index>
					<Name>Cylic Mode Inputs</Name>
					<Entry>
						<Index>#x6041</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Statusword</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6064</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Position actual value (units)</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x1B8A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>DemandPosition</Name>
						<DataType>DINT</DataType>
					</Entry>										
					<Entry>
						<Index>#x1B93</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>DemandCurrent</Name>
						<DataType>DINT</DataType>
					</Entry>										
					<Entry>
						<Index>#x6061</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Mode of Operation display</Name>
						<DataType>SINT</DataType>
					</Entry>
					<Entry>
						<Index>#x0000</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Byte Padding</Name>
						<DataType>USINT</DataType>
					</Entry>
				</TxPdo>
				<TxPdo Fixed="0">
					<Index>#x1A20</Index>
					<Name>User Defined Inputs</Name>
				</TxPdo>
				<TxPdo Fixed="1">
					<Index>#x1b08</Index>
					<Name>Config Module</Name>
					<Entry>
						<Index>#x1B09</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Config Status Word</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x1B0A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Config Index In</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x1B0B</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Config Value In</Name>
						<DataType>DINT</DataType>
					</Entry>										
				</TxPdo>
				<TxPdo Fixed="1">
					<Index>#x1b10</Index>
					<Name>Input DemVel</Name>
					<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>
					<Entry>
						<Index>#x1B8E</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>ActualVelocity</Name>
						<DataType>DINT</DataType>
					</Entry>										
				</TxPdo>
				<TxPdo Fixed="1">
					<Index>#x1b12</Index>
					<Name>Input ActVelFilt</Name>
					<Entry>
						<Index>#x1BAF</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>ActualVelocityFilt</Name>
						<DataType>DINT</DataType>
					</Entry>										
				</TxPdo>
				<TxPdo Fixed="1">
					<Index>#x1b16</Index>
					<Name>Input DemCurrFilt</Name>
					<Entry>
						<Index>#x1B98</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>DemandCurrentFilt</Name>
						<DataType>DINT</DataType>
					</Entry>										
				</TxPdo>
				<Mailbox DataLinkLayer="true">
					<AoE AdsRouter="1" GenerateOwnNetId="1" InitializeOwnNetId="1"/>
					<!-- EtherNET over EtherCAT -->
					<EoE	MAC="1"	 IP="1"	TimeStamp="0"/>
					<CoE SdoInfo="0" PdoAssign="1" PdoConfig="1" PdoUpload="0" CompleteAccess="0" SegmentedSdo="0" DiagHistory="0"/>
				</Mailbox>
				<Dc>
					<OpMode>
						<Name>DC</Name>
						<Desc>DC-Synchron</Desc>
						<AssignActivate>#x300</AssignActivate>
						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
						<ShiftTimeSync0>0</ShiftTimeSync0>
						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
					</OpMode>
					<OpMode>
						<Name>Synchron</Name>
						<Desc>SM-Synchron</Desc>
						<AssignActivate>#x0</AssignActivate>
						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
						<ShiftTimeSync0>0</ShiftTimeSync0>
						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
					</OpMode>
				</Dc>
				<Eeprom>
					<ByteSize>2048</ByteSize>
					<ConfigData>080400CCE803</ConfigData>
				</Eeprom>
				<ImageData16x14>424de6000000000000007600000028000000100000000e000000010004000000000070000000130b0000130b00000000000000000000105210001884180031313100424242005a5a5a0063a5630063ad63006bb56b007b7b7b0084848400849484008cad8c008cb58c00a5b5a500b5b5b500ffffff00ffffff9898ffffffffffff8888ffffffffffff8888ffffffffffffeee9ffffffffffffeedaffffffffffffed77ffffffffffffee77ffffffffffffeeacffffffffffffe244ffffffffffffe344ffffffffffffb75bffffffffffff7107ffffffffffff7107ffffffffffffc65cffffff</ImageData16x14>
			</Device>
			<Device Physics="YY">	<!-- C1450-DS-VS-1S -->
				<Type ProductCode="#x00960A69" RevisionNo="#x00010008">C1450-DS-VS-1S</Type>
				<Name LcId="1033"><![CDATA[C1450-DS-VS-1S V1.8b4]]></Name>
				<URL>http://www.linmot.com</URL>
				<Info>
					<StateMachine>
						<Behavior StartToSafeopNoSync="true"/>
					</StateMachine>
				</Info>
				<GroupType>CiA402 Drives</GroupType>
				<Profile>
					<ProfileNo>402</ProfileNo>
					<ChannelCount>1</ChannelCount>
					<Dictionary>
						<DataTypes>
							<DataType>
								<Name>BIT2</Name>
								<BitSize>2</BitSize>
							</DataType>
							<DataType>
								<Name>BIT3</Name>
								<BitSize>3</BitSize>
							</DataType>
							<DataType>
								<Name>BOOL</Name>
								<BitSize>1</BitSize>
							</DataType>
							<DataType>
								<Name>DINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<Name>INT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<Name>WORD</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<Name>UDINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<Name>UINT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<Name>USINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<Name>SINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<Name>STRING(11)</Name>
								<BitSize>88</BitSize>
							</DataType>
							<DataType>
								<Name>STRING(2)</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<Name>STRING(4)</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<Name>STRING(32)</Name>
								<BitSize>256</BitSize>
							</DataType>
							<DataType>
								<Name>DT1018</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Vendor ID</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Product code</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Revision</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Serial number</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1600</Name>
								<BitSize>272</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Output Object 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Output Object 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Output Object 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Output Object 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Output Object 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Output Object 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Output Object 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Output Object 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1602</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Controlword</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Target position</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mode of Operation</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Padding Byte</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1603</Name>
								<BitSize>176</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Controlword</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Target position</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Target velocity</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mode of Operation</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Padding Byte</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1604</Name>
								<BitSize>208</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Controlword</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Target position</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Target velocity</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Target torque</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mode of Operation</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Padding Byte</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1606</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Controlword</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Target torque</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mode of Operation</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Padding Byte</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1700</Name>
								<BitSize>240</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>ControlWord</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>MotionCommandHeader</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Motion Command Par 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Motion Command Par 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Motion Command Par 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Motion Command Par 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Motion Command Par 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1701</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>ControlWord</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>SetpointPosition</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Setpoint Velocity</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Setpoint Acceleration</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1708</Name>
								<BitSize>112</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Config ControlWord</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Config Index Out</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Config Value Out</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A00</Name>
								<BitSize>272</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Input Object 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Input Object 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Input Object 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Input Object 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Input Object 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Input Object 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Input Object 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Input Object 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A02</Name>
								<BitSize>208</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Statusword</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Position actual value</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>DemandPosition</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>DemandCurrent</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mode of Operation display</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Padding Byte</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1B00</Name>
								<BitSize>208</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>StateVar</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>StatusWord</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>WarnWord</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>DemandPosition</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>ActualPosition</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>DemandCurrent</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1B08</Name>
								<BitSize>112</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Config Status Word</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Config Index In</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Config Value In</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
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							<DataType>
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										<Access>ro</Access>
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							<DataType>
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								<Name>Device type</Name>
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										<Name>Vendor ID</Name>
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										<!--	<DefaultData>4C4E5449</DefaultData> -->
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										<Name>Product code</Name>
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										<!--	<DefaultData>00960A4C</DefaultData> -->
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										<Name>Revision</Name>
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										<!--	<DefaultData>00001007</DefaultData> -->
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										<Name>Serial number</Name>
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											<DefaultValue>#x1A02</DefaultValue>
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									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
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							<Object>
								<Index>#x603F</Index>
								<Name>Error code</Name>
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								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
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								<Name>Statusword</Name>
								<Type>UINT</Type>
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								<Flags>
									<Access>ro</Access>
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									<PdoMapping>RT</PdoMapping>
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								<Index>#x6060</Index>
								<Name>Mode of Operation</Name>
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									<PdoMapping>RT</PdoMapping>
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								<Index>#x6061</Index>
								<Name>Mode of Operation display</Name>
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								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
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							<Object>
								<Index>#x6064</Index>
								<Name>Position actual value ( units )</Name>
								<Type>DINT</Type>
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									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
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								<Index>#x607a</Index>
								<Name>Target position</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
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									<PdoMapping>RT</PdoMapping>
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								<Name>TorqueLimitPositiv</Name>
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								<Index>#x60e1</Index>
								<Name>TorqueLimitNegativ</Name>
								<Type>UINT</Type>
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								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
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							</Object>	-->
							<Object>
								<Index>#x60FF</Index>
								<Name>Target velocity</Name>
								<Comment>Command speed for the csv mode</Comment>
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								<BitSize>32</BitSize>
<!--								<Info>
									<MinData>01000080</MinData>
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									<DefaultData>00000000</DefaultData>
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				</Profile>
				<Fmmu>Outputs</Fmmu>
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				<Fmmu>MBoxState</Fmmu>
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						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Mode of Operation</Name>
						<DataType>SINT</DataType>
					</Entry>
					<Entry>
						<Index>#x0000</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Byte Padding</Name>
						<DataType>USINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="0">
					<Index>#x1620</Index>
					<Name>User Defined Outputs</Name>
				</RxPdo>
				<RxPdo Fixed="1">
					<Index>#x1708</Index>
					<Name>Config Module</Name>
					<Entry>
						<Index>#x1709</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Config Control Word</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x170A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Config Index Out</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x170B</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Config Value Out</Name>
						<DataType>DINT</DataType>
					</Entry>										
				</RxPdo>
				<RxPdo Fixed="1">
					<Index>#x1710</Index>
					<Name>Max Current Set A</Name>
					<Entry>
						<Index>#x13A6</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Max Current Set A</Name>
						<DataType>UDINT</DataType>
					</Entry>										
				</RxPdo>
				<TxPdo Fixed="1" Sm="3">
					<Index>#x1A02</Index>
					<Name>Cylic Mode Inputs</Name>
					<Entry>
						<Index>#x6041</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Statusword</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6064</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Position actual value (units)</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x1B8A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>DemandPosition</Name>
						<DataType>DINT</DataType>
					</Entry>										
					<Entry>
						<Index>#x1B93</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>DemandCurrent</Name>
						<DataType>DINT</DataType>
					</Entry>										
					<Entry>
						<Index>#x6061</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Mode of Operation display</Name>
						<DataType>SINT</DataType>
					</Entry>
					<Entry>
						<Index>#x0000</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Byte Padding</Name>
						<DataType>USINT</DataType>
					</Entry>
				</TxPdo>
				<TxPdo Fixed="0">
					<Index>#x1A20</Index>
					<Name>User Defined Inputs</Name>
				</TxPdo>
				<TxPdo Fixed="1">
					<Index>#x1b08</Index>
					<Name>Config Module</Name>
					<Entry>
						<Index>#x1B09</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Config Status Word</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x1B0A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Config Index In</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x1B0B</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Config Value In</Name>
						<DataType>DINT</DataType>
					</Entry>										
				</TxPdo>
				<TxPdo Fixed="1">
					<Index>#x1b10</Index>
					<Name>Input DemVel</Name>
					<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>
					<Entry>
						<Index>#x1B8E</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>ActualVelocity</Name>
						<DataType>DINT</DataType>
					</Entry>										
				</TxPdo>
				<TxPdo Fixed="1">
					<Index>#x1b12</Index>
					<Name>Input ActVelFilt</Name>
					<Entry>
						<Index>#x1BAF</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>ActualVelocityFilt</Name>
						<DataType>DINT</DataType>
					</Entry>										
				</TxPdo>
				<TxPdo Fixed="1">
					<Index>#x1b16</Index>
					<Name>Input DemCurrFilt</Name>
					<Entry>
						<Index>#x1B98</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>DemandCurrentFilt</Name>
						<DataType>DINT</DataType>
					</Entry>										
				</TxPdo>
				<Mailbox DataLinkLayer="true">
					<AoE AdsRouter="1" GenerateOwnNetId="1" InitializeOwnNetId="1"/>
					<!-- EtherNET over EtherCAT -->
					<EoE	MAC="1"	 IP="1"	TimeStamp="0"/>
					<CoE SdoInfo="0" PdoAssign="1" PdoConfig="1" PdoUpload="0" CompleteAccess="0" SegmentedSdo="0" DiagHistory="0"/>
				</Mailbox>
				<Dc>
					<OpMode>
						<Name>DC</Name>
						<Desc>DC-Synchron</Desc>
						<AssignActivate>#x300</AssignActivate>
						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
						<ShiftTimeSync0>0</ShiftTimeSync0>
						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
					</OpMode>
					<OpMode>
						<Name>Synchron</Name>
						<Desc>SM-Synchron</Desc>
						<AssignActivate>#x0</AssignActivate>
						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
						<ShiftTimeSync0>0</ShiftTimeSync0>
						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
					</OpMode>
				</Dc>
				<Eeprom>
					<ByteSize>2048</ByteSize>
					<ConfigData>080400CCE803</ConfigData>
				</Eeprom>
				<ImageData16x14>424de6000000000000007600000028000000100000000e000000010004000000000070000000130b0000130b00000000000000000000105210001884180031313100424242005a5a5a0063a5630063ad63006bb56b007b7b7b0084848400849484008cad8c008cb58c00a5b5a500b5b5b500ffffff00ffffff9898ffffffffffff8888ffffffffffff8888ffffffffffffeee9ffffffffffffeedaffffffffffffed77ffffffffffffee77ffffffffffffeeacffffffffffffe244ffffffffffffe344ffffffffffffb75bffffffffffff7107ffffffffffff7107ffffffffffffc65cffffff</ImageData16x14>
			</Device>			
			<Device Physics="YY">	<!-- E1450-DS-QN-0S -->
				<Type ProductCode="#x0096096B" RevisionNo="#x00010008">E1450-DS-QN-0S</Type>
				<Name LcId="1033"><![CDATA[E1450-DS-QN-0S V1.8b4]]></Name>
				<URL>http://www.linmot.com</URL>
				<Info>
					<StateMachine>
						<Behavior StartToSafeopNoSync="true"/>
					</StateMachine>
				</Info>
				<GroupType>CiA402 Drives</GroupType>
				<Profile>
					<ProfileNo>402</ProfileNo>
					<ChannelCount>1</ChannelCount>
					<Dictionary>
						<DataTypes>
							<DataType>
								<Name>BIT2</Name>
								<BitSize>2</BitSize>
							</DataType>
							<DataType>
								<Name>BIT3</Name>
								<BitSize>3</BitSize>
							</DataType>
							<DataType>
								<Name>BOOL</Name>
								<BitSize>1</BitSize>
							</DataType>
							<DataType>
								<Name>DINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<Name>INT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<Name>WORD</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<Name>UDINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<Name>UINT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<Name>USINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<Name>SINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<Name>STRING(11)</Name>
								<BitSize>88</BitSize>
							</DataType>
							<DataType>
								<Name>STRING(2)</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<Name>STRING(4)</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<Name>STRING(32)</Name>
								<BitSize>256</BitSize>
							</DataType>
							<DataType>
								<Name>DT1018</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Vendor ID</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Product code</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Revision</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Serial number</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1600</Name>
								<BitSize>272</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Output Object 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Output Object 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Output Object 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Output Object 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Output Object 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Output Object 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Output Object 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Output Object 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1602</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Controlword</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Target position</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mode of Operation</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Padding Byte</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1603</Name>
								<BitSize>176</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Controlword</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Target position</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Target velocity</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mode of Operation</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Padding Byte</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1604</Name>
								<BitSize>208</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Controlword</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Target position</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Target velocity</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Target torque</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mode of Operation</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Padding Byte</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1606</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Controlword</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Target torque</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mode of Operation</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Padding Byte</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1700</Name>
								<BitSize>240</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>ControlWord</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>MotionCommandHeader</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Motion Command Par 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Motion Command Par 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Motion Command Par 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Motion Command Par 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Motion Command Par 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1701</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>ControlWord</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>SetpointPosition</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Setpoint Velocity</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Setpoint Acceleration</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1708</Name>
								<BitSize>112</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Config ControlWord</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Config Index Out</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Config Value Out</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A00</Name>
								<BitSize>272</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Input Object 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Input Object 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Input Object 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Input Object 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Input Object 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Input Object 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Input Object 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Input Object 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A02</Name>
								<BitSize>208</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Statusword</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Position actual value</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>DemandPosition</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>DemandCurrent</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mode of Operation display</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Padding Byte</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1B00</Name>
								<BitSize>208</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>StateVar</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>StatusWord</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>WarnWord</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>DemandPosition</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>ActualPosition</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>DemandCurrent</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1B08</Name>
								<BitSize>112</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Config Status Word</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Config Index In</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Config Value In</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>							
							<DataType>
								<Name>DT1B10</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Input Dem Vel</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>							
							<DataType>
								<Name>DT1B11</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
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									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Input Act Vel</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>							
							<DataType>
								<Name>DT1B12</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
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								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Input Act Vel Filt</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
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								</SubItem>
							</DataType>							
							<DataType>
								<Name>DT1C00ARR</Name>
								<BaseType>USINT</BaseType>
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									<Elements>4</Elements>
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								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
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									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
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								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C1XARR</Name>
								<BaseType>UINT</BaseType>
								<BitSize>128</BitSize>
								<ArrayInfo>
									<LBound>1</LBound>
									<Elements>8</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>DT1C1X</Name>
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								<SubItem>
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									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
										<Category>o</Category>
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								</SubItem>
								<SubItem>
									<Name>Elements</Name>
									<Type>DT1C1XARR</Type>
									<BitSize>128</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
										<Category>o</Category>
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								</SubItem>
							</DataType>
						</DataTypes>
						<Objects>
							<Object>
								<Index>#x1000</Index>
								<Name>Device type</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>92010200</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>m</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1008</Index>
								<Name>Device name</Name>
								<Type>STRING(11)</Type>
								<BitSize>88</BitSize>
								<Info>
									<DefaultData>3030303030303030303030</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>m</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1009</Index>
								<Name>Hardware version</Name>
								<Type>STRING(4)</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>30303030</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x100A</Index>
								<Name>Software version</Name>
								<Type>STRING(32)</Type>
								<BitSize>256</BitSize>
								<Info>
									<DefaultData>3030303030303030303030303030303030303030303030303030303030303030</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1018</Index>
								<Name>Identity</Name>
								<Type>DT1018</Type>
								<BitSize>144</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>04</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Vendor ID</Name>
										<Info>
										<!--	<DefaultData>4C4E5449</DefaultData> -->
											<DefaultData>49544E4C</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Product code</Name>
										<Info>
										<!--	<DefaultData>0096075C</DefaultData> -->
											<DefaultData>F8069600</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Revision</Name>
										<Info>
										<!--	<DefaultData>00001006</DefaultData> -->
											<DefaultData>07000100</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Serial number</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1602</Index>
								<Name>Cyclic Position Mode</Name>
								<Type>DT1602</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1603</Index>
								<Name>Cyclic Position Velocity Mode</Name>
								<Type>DT1603</Type>
								<BitSize>176</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1604</Index>
								<Name>Cyclic Position Velocity Torque Mode</Name>
								<Type>DT1604</Type>
								<BitSize>208</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1606</Index>
								<Name>Cyclic Torque Mode</Name>
								<Type>DT1606</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1620</Index>
								<Name>User Defined Outputs</Name>
								<Type>DT1600</Type>
								<BitSize>272</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1708</Index>
								<Name>Config Module</Name>
								<Type>DT1708</Type>
								<BitSize>112</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1A02</Index>
								<Name>Cyclic Mode Inputs</Name>
								<Type>DT1A02</Type>
								<BitSize>208</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1A20</Index>
								<Name>User Defined Inputs</Name>
								<Type>DT1A00</Type>
								<BitSize>272</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1b08</Index>
								<Name>Config Module</Name>
								<Type>DT1B08</Type>
								<BitSize>112</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1b10</Index>
								<Name>Input DemVel</Name>
								<Type>DT1B10</Type>
								<BitSize>48</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1b11</Index>
								<Name>Input ActVel</Name>
								<Type>DT1B11</Type>
								<BitSize>48</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1b12</Index>
								<Name>Input ActVelFilt</Name>
								<Type>DT1B12</Type>
								<BitSize>48</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1c00</Index>
								<Name>Sync Man Communication type</Name>
								<Type>DT1C00</Type>
								<BitSize>48</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1C12</Index>
								<Name>Sync Manager 2 PDO Assignment</Name>
								<Type>DT1C1X</Type>
								<BitSize>144</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultValue>01</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 001</Name>
										<Info>
											<DefaultValue>#x1603</DefaultValue>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1C13</Index>
								<Name>Sync Manager 3 PDO Assignment</Name>
								<Type>DT1C1X</Type>
								<BitSize>144</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultValue>01</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 001</Name>
										<Info>
											<DefaultValue>#x1A02</DefaultValue>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x6007</Index>
								<Name>Abort connection option code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x603F</Index>
								<Name>Error code</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x6040</Index>
								<Name>Controlword</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6041</Index>
								<Name>Statusword</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6060</Index>
								<Name>Mode of Operation</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6061</Index>
								<Name>Mode of Operation display</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6064</Index>
								<Name>Position actual value ( units )</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x607a</Index>
								<Name>Target position</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
<!--							<Object>
								<Index>#x60e0</Index>
								<Name>TorqueLimitPositiv</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60e1</Index>
								<Name>TorqueLimitNegativ</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>	-->
							<Object>
								<Index>#x60FF</Index>
								<Name>Target velocity</Name>
								<Comment>Command speed for the csv mode</Comment>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
<!--								<Info>
									<MinData>01000080</MinData>
									<MaxData>FFFFFF7F</MaxData>
									<DefaultData>00000000</DefaultData>
								</Info> -->
								<Flags>
									<Access>rw</Access>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
						</Objects>
					</Dictionary>
				</Profile>
				<Fmmu>Outputs</Fmmu>
				<Fmmu>Inputs</Fmmu>
				<Fmmu>MBoxState</Fmmu>
				<Sm MinSize="32" MaxSize="128" DefaultSize="128" StartAddress="#x1A00" ControlByte="#x26" Enable="1">MBoxOut</Sm>
				<Sm MinSize="32" MaxSize="128" DefaultSize="128" StartAddress="#x1C00" ControlByte="#x22" Enable="1">MBoxIn</Sm>
				<Sm MinSize="0" MaxSize="256" DefaultSize="12" StartAddress="#x1100" ControlByte="#x64" Enable="1">Outputs</Sm>
				<Sm MinSize="0" MaxSize="256" DefaultSize="16" StartAddress="#x1500" ControlByte="#x20" Enable="1">Inputs</Sm>
				<RxPdo Fixed="1">
					<Index>#x1602</Index>
					<Name>Cylic Position Mode</Name>
					<Exclude>#x1603</Exclude>
					<Exclude>#x1604</Exclude>
					<Exclude>#x1606</Exclude>
					<Entry>
						<Index>#x6040</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Controlword</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x607A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target position</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Mode of Operation</Name>
						<DataType>SINT</DataType>
					</Entry>
					<Entry>
						<Index>#x0000</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Byte Padding</Name>
						<DataType>USINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="1" Sm="2">
					<Index>#x1603</Index>
					<Name>Cylic Position Velocity Mode</Name>
					<Exclude>#x1602</Exclude>
					<Exclude>#x1604</Exclude>
					<Exclude>#x1606</Exclude>
					<Entry>
						<Index>#x6040</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Controlword</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x607A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target position</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60FF</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target velocity</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Mode of Operation</Name>
						<DataType>SINT</DataType>
					</Entry>
					<Entry>
						<Index>#x0000</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Byte Padding</Name>
						<DataType>USINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="1">
					<Index>#x1604</Index>
					<Name>Cylic Position Velocity Torque Mode</Name>
					<Exclude>#x1602</Exclude>
					<Exclude>#x1603</Exclude>
					<Exclude>#x1606</Exclude>
					<Entry>
						<Index>#x6040</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Controlword</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x607A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target position</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60FF</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target velocity</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6071</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Target torque</Name>
						<DataType>INT</DataType>
					</Entry>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Mode of Operation</Name>
						<DataType>SINT</DataType>
					</Entry>
					<Entry>
						<Index>#x0000</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Byte Padding</Name>
						<DataType>USINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="1">
					<Index>#x1606</Index>
					<Name>Cylic Torque Mode</Name>
					<Exclude>#x1602</Exclude>
					<Exclude>#x1603</Exclude>
					<Exclude>#x1604</Exclude>
					<Entry>
						<Index>#x6040</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Controlword</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6071</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Target torque</Name>
						<DataType>INT</DataType>
					</Entry>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Mode of Operation</Name>
						<DataType>SINT</DataType>
					</Entry>
					<Entry>
						<Index>#x0000</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Byte Padding</Name>
						<DataType>USINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="0">
					<Index>#x1620</Index>
					<Name>User Defined Outputs</Name>
				</RxPdo>
				<RxPdo Fixed="1">
					<Index>#x1708</Index>
					<Name>Config Module</Name>
					<Entry>
						<Index>#x1709</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Config Control Word</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x170A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Config Index Out</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x170B</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Config Value Out</Name>
						<DataType>DINT</DataType>
					</Entry>										
				</RxPdo>
				<RxPdo Fixed="1">
					<Index>#x1710</Index>
					<Name>Max Current Set A</Name>
					<Entry>
						<Index>#x13A6</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Max Current Set A</Name>
						<DataType>UDINT</DataType>
					</Entry>										
				</RxPdo>
				<TxPdo Fixed="1" Sm="3">
					<Index>#x1A02</Index>
					<Name>Cylic Mode Inputs</Name>
					<Entry>
						<Index>#x6041</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Statusword</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6064</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Position actual value (units)</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x1B8A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>DemandPosition</Name>
						<DataType>DINT</DataType>
					</Entry>										
					<Entry>
						<Index>#x1B93</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>DemandCurrent</Name>
						<DataType>DINT</DataType>
					</Entry>										
					<Entry>
						<Index>#x6061</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Mode of Operation display</Name>
						<DataType>SINT</DataType>
					</Entry>
					<Entry>
						<Index>#x0000</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Byte Padding</Name>
						<DataType>USINT</DataType>
					</Entry>
				</TxPdo>
				<TxPdo Fixed="0">
					<Index>#x1A20</Index>
					<Name>User Defined Inputs</Name>
				</TxPdo>
				<TxPdo Fixed="1">
					<Index>#x1b08</Index>
					<Name>Config Module</Name>
					<Entry>
						<Index>#x1B09</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Config Status Word</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x1B0A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Config Index In</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x1B0B</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Config Value In</Name>
						<DataType>DINT</DataType>
					</Entry>										
				</TxPdo>
				<TxPdo Fixed="1">
					<Index>#x1b10</Index>
					<Name>Input DemVel</Name>
					<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>
					<Entry>
						<Index>#x1B8E</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>ActualVelocity</Name>
						<DataType>DINT</DataType>
					</Entry>										
				</TxPdo>
				<TxPdo Fixed="1">
					<Index>#x1b12</Index>
					<Name>Input ActVelFilt</Name>
					<Entry>
						<Index>#x1BAF</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>ActualVelocityFilt</Name>
						<DataType>DINT</DataType>
					</Entry>										
				</TxPdo>
				<TxPdo Fixed="1">
					<Index>#x1b16</Index>
					<Name>Input DemCurrFilt</Name>
					<Entry>
						<Index>#x1B98</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>DemandCurrentFilt</Name>
						<DataType>DINT</DataType>
					</Entry>										
				</TxPdo>
				<Mailbox DataLinkLayer="true">
					<AoE AdsRouter="1" GenerateOwnNetId="1" InitializeOwnNetId="1"/>
					<!-- EtherNET over EtherCAT -->
					<EoE	MAC="1"	 IP="1"	TimeStamp="0"/>
					<CoE SdoInfo="0" PdoAssign="1" PdoConfig="1" PdoUpload="0" CompleteAccess="0" SegmentedSdo="0" DiagHistory="0"/>
				</Mailbox>
				<Dc>
					<OpMode>
						<Name>DC</Name>
						<Desc>DC-Synchron</Desc>
						<AssignActivate>#x300</AssignActivate>
						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
						<ShiftTimeSync0>0</ShiftTimeSync0>
						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
					</OpMode>
					<OpMode>
						<Name>Synchron</Name>
						<Desc>SM-Synchron</Desc>
						<AssignActivate>#x0</AssignActivate>
						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
						<ShiftTimeSync0>0</ShiftTimeSync0>
						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
					</OpMode>
				</Dc>
				<Eeprom>
					<ByteSize>2048</ByteSize>
					<ConfigData>080400CCE803</ConfigData>
				</Eeprom>
				<ImageData16x14>424de6000000000000007600000028000000100000000e000000010004000000000070000000130b0000130b00000000000000000000105210001884180031313100424242005a5a5a0063a5630063ad63006bb56b007b7b7b0084848400849484008cad8c008cb58c00a5b5a500b5b5b500ffffff00ffffff9898ffffffffffff8888ffffffffffff8888ffffffffffffeee9ffffffffffffeedaffffffffffffed77ffffffffffffee77ffffffffffffeeacffffffffffffe244ffffffffffffe344ffffffffffffb75bffffffffffff7107ffffffffffff7107ffffffffffffc65cffffff</ImageData16x14>
			</Device>			
			<Device Physics="YY">	<!-- E1450-DS-QN-1S -->
				<Type ProductCode="#x0096096C" RevisionNo="#x00010008">E1450-DS-QN-1S</Type>
				<Name LcId="1033"><![CDATA[E1450-DS-QN-1S V1.8b4]]></Name>
				<URL>http://www.linmot.com</URL>
				<Info>
					<StateMachine>
						<Behavior StartToSafeopNoSync="true"/>
					</StateMachine>
				</Info>
				<GroupType>CiA402 Drives</GroupType>
				<Profile>
					<ProfileNo>402</ProfileNo>
					<ChannelCount>1</ChannelCount>
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								<Name>BIT2</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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										<Category>o</Category>
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									<Type>UDINT</Type>
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									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
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									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
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									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
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									<Name>Serial number</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
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								<BitSize>272</BitSize>
								<SubItem>
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									<Name>Number of elements</Name>
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									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
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								<SubItem>
									<SubIdx>1</SubIdx>
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									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Output Object 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Output Object 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Output Object 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Output Object 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Output Object 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Output Object 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Output Object 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1602</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Controlword</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Target position</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mode of Operation</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Padding Byte</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1603</Name>
								<BitSize>176</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Controlword</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Target position</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Target velocity</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Mode of Operation</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Padding Byte</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1604</Name>
								<BitSize>208</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Controlword</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Target position</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Target velocity</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Target torque</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mode of Operation</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Padding Byte</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1606</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Controlword</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Target torque</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Mode of Operation</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Padding Byte</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1700</Name>
								<BitSize>240</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>ControlWord</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>MotionCommandHeader</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Motion Command Par 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Motion Command Par 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Motion Command Par 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Motion Command Par 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Motion Command Par 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1701</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>ControlWord</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>SetpointPosition</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Setpoint Velocity</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Setpoint Acceleration</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1708</Name>
								<BitSize>112</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Config ControlWord</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Config Index Out</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Config Value Out</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A00</Name>
								<BitSize>272</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Input Object 1</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Input Object 2</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Input Object 3</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Input Object 4</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Input Object 5</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Input Object 6</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Input Object 7</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Input Object 8</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A02</Name>
								<BitSize>208</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Statusword</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Position actual value</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>DemandPosition</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>DemandCurrent</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Mode of Operation display</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
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								<SubItem>
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									<Name>Padding Byte</Name>
									<Type>UDINT</Type>
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									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
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							</DataType>
							<DataType>
								<Name>DT1B00</Name>
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								<SubItem>
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									<Name>SubIndex 000</Name>
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									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
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								<SubItem>
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									<Name>StateVar</Name>
									<Type>UDINT</Type>
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									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
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								<SubItem>
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									<Name>StatusWord</Name>
									<Type>UDINT</Type>
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									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
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								<SubItem>
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									<Name>WarnWord</Name>
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									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
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								<SubItem>
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									<Name>DemandPosition</Name>
									<Type>UDINT</Type>
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									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
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								<SubItem>
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									<Name>ActualPosition</Name>
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									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
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								<SubItem>
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										<Access>ro</Access>
										<Category>o</Category>
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							</DataType>
							<DataType>
								<Name>DT1B08</Name>
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								<SubItem>
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									<Name>SubIndex 000</Name>
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									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Config Status Word</Name>
									<Type>UDINT</Type>
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									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
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								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Config Index In</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
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								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Config Value In</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>							
							<DataType>
								<Name>DT1B10</Name>
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								<SubItem>
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									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
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									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
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								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Input Dem Vel</Name>
									<Type>UDINT</Type>
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									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>							
							<DataType>
								<Name>DT1B11</Name>
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								<SubItem>
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									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
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									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
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								<SubItem>
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									<Name>Input Act Vel</Name>
									<Type>UDINT</Type>
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									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>							
							<DataType>
								<Name>DT1B12</Name>
								<BitSize>48</BitSize>
								<SubItem>
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									<Name>SubIndex 000</Name>
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									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
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								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Input Act Vel Filt</Name>
									<Type>UDINT</Type>
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									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>							
							<DataType>
								<Name>DT1C00ARR</Name>
								<BaseType>USINT</BaseType>
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									<Elements>4</Elements>
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							</DataType>
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								<SubItem>
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									<Name>Number of elements</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
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								<SubItem>
									<Name>Elements</Name>
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									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
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								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C1XARR</Name>
								<BaseType>UINT</BaseType>
								<BitSize>128</BitSize>
								<ArrayInfo>
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									<Elements>8</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>DT1C1X</Name>
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								<SubItem>
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									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<Name>Elements</Name>
									<Type>DT1C1XARR</Type>
									<BitSize>128</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOP">rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
						</DataTypes>
						<Objects>
							<Object>
								<Index>#x1000</Index>
								<Name>Device type</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>92010200</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>m</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1008</Index>
								<Name>Device name</Name>
								<Type>STRING(11)</Type>
								<BitSize>88</BitSize>
								<Info>
									<DefaultData>3030303030303030303030</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>m</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1009</Index>
								<Name>Hardware version</Name>
								<Type>STRING(4)</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>30303030</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x100A</Index>
								<Name>Software version</Name>
								<Type>STRING(32)</Type>
								<BitSize>256</BitSize>
								<Info>
									<DefaultData>3030303030303030303030303030303030303030303030303030303030303030</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1018</Index>
								<Name>Identity</Name>
								<Type>DT1018</Type>
								<BitSize>144</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>04</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Vendor ID</Name>
										<Info>
										<!--	<DefaultData>4C4E5449</DefaultData> -->
											<DefaultData>49544E4C</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Product code</Name>
										<Info>
										<!--	<DefaultData>0096075C</DefaultData> -->
											<DefaultData>31099600</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Revision</Name>
										<Info>
										<!--	<DefaultData>00001006</DefaultData> -->
											<DefaultData>07000100</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Serial number</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1602</Index>
								<Name>Cyclic Position Mode</Name>
								<Type>DT1602</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1603</Index>
								<Name>Cyclic Position Velocity Mode</Name>
								<Type>DT1603</Type>
								<BitSize>176</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1604</Index>
								<Name>Cyclic Position Velocity Torque Mode</Name>
								<Type>DT1604</Type>
								<BitSize>208</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1606</Index>
								<Name>Cyclic Torque Mode</Name>
								<Type>DT1606</Type>
								<BitSize>144</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1620</Index>
								<Name>User Defined Outputs</Name>
								<Type>DT1600</Type>
								<BitSize>272</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1708</Index>
								<Name>Config Module</Name>
								<Type>DT1708</Type>
								<BitSize>112</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1A02</Index>
								<Name>Cyclic Mode Inputs</Name>
								<Type>DT1A02</Type>
								<BitSize>208</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1A20</Index>
								<Name>User Defined Inputs</Name>
								<Type>DT1A00</Type>
								<BitSize>272</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1b08</Index>
								<Name>Config Module</Name>
								<Type>DT1B08</Type>
								<BitSize>112</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1b10</Index>
								<Name>Input DemVel</Name>
								<Type>DT1B10</Type>
								<BitSize>48</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1b11</Index>
								<Name>Input ActVel</Name>
								<Type>DT1B11</Type>
								<BitSize>48</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1b12</Index>
								<Name>Input ActVelFilt</Name>
								<Type>DT1B12</Type>
								<BitSize>48</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1c00</Index>
								<Name>Sync Man Communication type</Name>
								<Type>DT1C00</Type>
								<BitSize>48</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1C12</Index>
								<Name>Sync Manager 2 PDO Assignment</Name>
								<Type>DT1C1X</Type>
								<BitSize>144</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultValue>01</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 001</Name>
										<Info>
											<DefaultValue>#x1603</DefaultValue>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1C13</Index>
								<Name>Sync Manager 3 PDO Assignment</Name>
								<Type>DT1C1X</Type>
								<BitSize>144</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultValue>01</DefaultValue>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 001</Name>
										<Info>
											<DefaultValue>#x1A02</DefaultValue>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>rw</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x6007</Index>
								<Name>Abort connection option code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x603F</Index>
								<Name>Error code</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x6040</Index>
								<Name>Controlword</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6041</Index>
								<Name>Statusword</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6060</Index>
								<Name>Mode of Operation</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6061</Index>
								<Name>Mode of Operation display</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6064</Index>
								<Name>Position actual value ( units )</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x607a</Index>
								<Name>Target position</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
<!--							<Object>
								<Index>#x60e0</Index>
								<Name>TorqueLimitPositiv</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x60e1</Index>
								<Name>TorqueLimitNegativ</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>	-->
							<Object>
								<Index>#x60FF</Index>
								<Name>Target velocity</Name>
								<Comment>Command speed for the csv mode</Comment>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
<!--								<Info>
									<MinData>01000080</MinData>
									<MaxData>FFFFFF7F</MaxData>
									<DefaultData>00000000</DefaultData>
								</Info> -->
								<Flags>
									<Access>rw</Access>
									<PdoMapping>RT</PdoMapping>
								</Flags>
							</Object>
						</Objects>
					</Dictionary>
				</Profile>
				<Fmmu>Outputs</Fmmu>
				<Fmmu>Inputs</Fmmu>
				<Fmmu>MBoxState</Fmmu>
				<Sm MinSize="32" MaxSize="128" DefaultSize="128" StartAddress="#x1A00" ControlByte="#x26" Enable="1">MBoxOut</Sm>
				<Sm MinSize="32" MaxSize="128" DefaultSize="128" StartAddress="#x1C00" ControlByte="#x22" Enable="1">MBoxIn</Sm>
				<Sm MinSize="0" MaxSize="256" DefaultSize="12" StartAddress="#x1100" ControlByte="#x64" Enable="1">Outputs</Sm>
				<Sm MinSize="0" MaxSize="256" DefaultSize="16" StartAddress="#x1500" ControlByte="#x20" Enable="1">Inputs</Sm>
				<RxPdo Fixed="1">
					<Index>#x1602</Index>
					<Name>Cylic Position Mode</Name>
					<Exclude>#x1603</Exclude>
					<Exclude>#x1604</Exclude>
					<Exclude>#x1606</Exclude>
					<Entry>
						<Index>#x6040</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Controlword</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x607A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target position</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Mode of Operation</Name>
						<DataType>SINT</DataType>
					</Entry>
					<Entry>
						<Index>#x0000</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Byte Padding</Name>
						<DataType>USINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="1" Sm="2">
					<Index>#x1603</Index>
					<Name>Cylic Position Velocity Mode</Name>
					<Exclude>#x1602</Exclude>
					<Exclude>#x1604</Exclude>
					<Exclude>#x1606</Exclude>
					<Entry>
						<Index>#x6040</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Controlword</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x607A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target position</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60FF</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target velocity</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Mode of Operation</Name>
						<DataType>SINT</DataType>
					</Entry>
					<Entry>
						<Index>#x0000</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Byte Padding</Name>
						<DataType>USINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="1">
					<Index>#x1604</Index>
					<Name>Cylic Position Velocity Torque Mode</Name>
					<Exclude>#x1602</Exclude>
					<Exclude>#x1603</Exclude>
					<Exclude>#x1606</Exclude>
					<Entry>
						<Index>#x6040</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Controlword</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x607A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target position</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60FF</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target velocity</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6071</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Target torque</Name>
						<DataType>INT</DataType>
					</Entry>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Mode of Operation</Name>
						<DataType>SINT</DataType>
					</Entry>
					<Entry>
						<Index>#x0000</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Byte Padding</Name>
						<DataType>USINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="1">
					<Index>#x1606</Index>
					<Name>Cylic Torque Mode</Name>
					<Exclude>#x1602</Exclude>
					<Exclude>#x1603</Exclude>
					<Exclude>#x1604</Exclude>
					<Entry>
						<Index>#x6040</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Controlword</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6071</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Target torque</Name>
						<DataType>INT</DataType>
					</Entry>
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Mode of Operation</Name>
						<DataType>SINT</DataType>
					</Entry>
					<Entry>
						<Index>#x0000</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Byte Padding</Name>
						<DataType>USINT</DataType>
					</Entry>
				</RxPdo>
				<RxPdo Fixed="0">
					<Index>#x1620</Index>
					<Name>User Defined Outputs</Name>
				</RxPdo>
				<RxPdo Fixed="1">
					<Index>#x1708</Index>
					<Name>Config Module</Name>
					<Entry>
						<Index>#x1709</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Config Control Word</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x170A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Config Index Out</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x170B</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Config Value Out</Name>
						<DataType>DINT</DataType>
					</Entry>										
				</RxPdo>
				<RxPdo Fixed="1">
					<Index>#x1710</Index>
					<Name>Max Current Set A</Name>
					<Entry>
						<Index>#x13A6</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Max Current Set A</Name>
						<DataType>UDINT</DataType>
					</Entry>										
				</RxPdo>
				<TxPdo Fixed="1" Sm="3">
					<Index>#x1A02</Index>
					<Name>Cylic Mode Inputs</Name>
					<Entry>
						<Index>#x6041</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Statusword</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6064</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Position actual value (units)</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x1B8A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>DemandPosition</Name>
						<DataType>DINT</DataType>
					</Entry>										
					<Entry>
						<Index>#x1B93</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>DemandCurrent</Name>
						<DataType>DINT</DataType>
					</Entry>										
					<Entry>
						<Index>#x6061</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Mode of Operation display</Name>
						<DataType>SINT</DataType>
					</Entry>
					<Entry>
						<Index>#x0000</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Byte Padding</Name>
						<DataType>USINT</DataType>
					</Entry>
				</TxPdo>
				<TxPdo Fixed="0">
					<Index>#x1A20</Index>
					<Name>User Defined Inputs</Name>
				</TxPdo>
				<TxPdo Fixed="1">
					<Index>#x1b08</Index>
					<Name>Config Module</Name>
					<Entry>
						<Index>#x1B09</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Config Status Word</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x1B0A</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Config Index In</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x1B0B</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Config Value In</Name>
						<DataType>DINT</DataType>
					</Entry>										
				</TxPdo>
				<TxPdo Fixed="1">
					<Index>#x1b10</Index>
					<Name>Input DemVel</Name>
					<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>
					<Entry>
						<Index>#x1B8E</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>ActualVelocity</Name>
						<DataType>DINT</DataType>
					</Entry>										
				</TxPdo>
				<TxPdo Fixed="1">
					<Index>#x1b12</Index>
					<Name>Input ActVelFilt</Name>
					<Entry>
						<Index>#x1BAF</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>ActualVelocityFilt</Name>
						<DataType>DINT</DataType>
					</Entry>										
				</TxPdo>
				<TxPdo Fixed="1">
					<Index>#x1b16</Index>
					<Name>Input DemCurrFilt</Name>
					<Entry>
						<Index>#x1B98</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>DemandCurrentFilt</Name>
						<DataType>DINT</DataType>
					</Entry>										
				</TxPdo>
				<Mailbox DataLinkLayer="true">
					<AoE AdsRouter="1" GenerateOwnNetId="1" InitializeOwnNetId="1"/>
					<!-- EtherNET over EtherCAT -->
					<EoE	MAC="1"	 IP="1"	TimeStamp="0"/>
					<CoE SdoInfo="0" PdoAssign="1" PdoConfig="1" PdoUpload="0" CompleteAccess="0" SegmentedSdo="0" DiagHistory="0"/>
				</Mailbox>
				<Dc>
					<OpMode>
						<Name>DC</Name>
						<Desc>DC-Synchron</Desc>
						<AssignActivate>#x300</AssignActivate>
						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
						<ShiftTimeSync0>0</ShiftTimeSync0>
						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
					</OpMode>
					<OpMode>
						<Name>Synchron</Name>
						<Desc>SM-Synchron</Desc>
						<AssignActivate>#x0</AssignActivate>
						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
						<ShiftTimeSync0>0</ShiftTimeSync0>
						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
					</OpMode>
				</Dc>
				<Eeprom>
					<ByteSize>2048</ByteSize>
					<ConfigData>080400CCE803</ConfigData>
				</Eeprom>
				<ImageData16x14>424de6000000000000007600000028000000100000000e000000010004000000000070000000130b0000130b00000000000000000000105210001884180031313100424242005a5a5a0063a5630063ad63006bb56b007b7b7b0084848400849484008cad8c008cb58c00a5b5a500b5b5b500ffffff00ffffff9898ffffffffffff8888ffffffffffff8888ffffffffffffeee9ffffffffffffeedaffffffffffffed77ffffffffffffee77ffffffffffffeeacffffffffffffe244ffffffffffffe344ffffffffffffb75bffffffffffff7107ffffffffffff7107ffffffffffffc65cffffff</ImageData16x14>
			</Device>			
		</Devices>
	</Descriptions>
</EtherCATInfo>
