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    <Name LcId="1033">Green IOT</Name>
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    <!--<Name>Shenzhen Green IOT Technology Co.,Ltd</Name>-->
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      <!--EC57-->
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        <Name LcId="1033"><![CDATA[EC-57A-7]]></Name>
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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>
                    <Category>o</Category>
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                <SubItem>
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                    <Access>ro</Access>
                    <Category>o</Category>
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                    <Access>rw</Access>
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                <SubItem>
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                    <Access>ro</Access>
                    <Category>c</Category>
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                  <Flags>
                    <Access>rw</Access>
                    <Category>o</Category>
                  </Flags>
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                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
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                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
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              <DataType>
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                    <Access WriteRestrictions="PreOP">rw</Access>
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                </SubItem>
                <SubItem>
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                    <Category>o</Category>
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                    <Category>o</Category>
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                  <Flags>
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                  <Flags>
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                    <Category>o</Category>
                  </Flags>
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                    <Access>ro</Access>
                    <Category>c</Category>
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                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
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                <SubItem>
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                    <Access>ro</Access>
                    <Category>c</Category>
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                  <Flags>
                    <Access>ro</Access>
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                    <PdoMapping>TR</PdoMapping>
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                    <PdoMapping>TR</PdoMapping>
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                  <Flags>
                    <Access>ro</Access>
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                    <PdoMapping>TR</PdoMapping>
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                    <PdoMapping>TR</PdoMapping>
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              <DataType>
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                  <Flags>
                    <Access>ro</Access>
                  </Flags>
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                    <PdoMapping>TR</PdoMapping>
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                    <PdoMapping>TR</PdoMapping>
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                    <PdoMapping>TR</PdoMapping>
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                    <PdoMapping>TR</PdoMapping>
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                    <PdoMapping>TR</PdoMapping>
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                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
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                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
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                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2022</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Inputs Function</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Inputs Function0</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Inputs Function1</Name>
                  <Type>UINT</Type>
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                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Inputs Function2</Name>
                  <Type>UINT</Type>
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                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Inputs Function3</Name>
                  <Type>UINT</Type>
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                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Inputs Function4</Name>
                  <Type>UINT</Type>
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                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2023</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Inputs Filter Time</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Inputs Filter Time0</Name>
                  <Type>UINT</Type>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Inputs Filter Time1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Inputs Filter Time2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Inputs Filter Time3</Name>
                  <Type>UINT</Type>
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                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Inputs Filter Time4</Name>
                  <Type>UINT</Type>
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                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2025</Name>
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                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Outputs Function</Name>
                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Outputs Function0</Name>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
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                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Outputs Function1</Name>
                  <Type>UINT</Type>
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                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
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                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Outputs Function2</Name>
                  <Type>UINT</Type>
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                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</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>
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                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed during search for switch</Name>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed during search for zero</Name>
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                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>80</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>Physical Outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Bit Mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x1000</Index>
                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultData>91010204</DefaultData>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <Category>m</Category>
                </Flags>
              </Object>
              <Object>
                <Index>#x1001</Index>
                <Name>Error register</Name>
                <Type>USINT</Type>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x1008</Index>
                <Name>Device name</Name>
                <Type>STRING(7)</Type>
                <BitSize>56</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <Category>o</Category>
                </Flags>
              </Object>
              <Object>
                <Index>#x1009</Index>
                <Name>Hardware version</Name>
                <Type>STRING(3)</Type>
                <BitSize>24</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <Category>o</Category>
                </Flags>
              </Object>
              <Object>
                <Index>#x100A</Index>
                <Name>Software version</Name>
                <Type>STRING(3)</Type>
                <BitSize>24</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <Category>o</Category>
                </Flags>
              </Object>
              <Object>
                <Index>#x1010</Index>
                <Name>Save Parameter</Name>
                <Type>DT1010</Type>
                <BitSize>144</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1011</Index>
                <Name>Recover Parameter</Name>
                <Type>DT1011</Type>
                <BitSize>144</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1018</Index>
                <Name>Identity</Name>
                <Type>DT1018</Type>
                <BitSize>144</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x10F1</Index>
                <Name>Error Settings</Name>
                <Type>DT10F1</Type>
                <BitSize>64</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1600</Index>
                <Name>CSP RxPDO1</Name>
                <Type>DT1600</Type>
                <BitSize>272</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1601</Index>
                <Name>PP RxPDO2</Name>
                <Type>DT1602</Type>
                <BitSize>272</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1602</Index>
                <Name>PV RxPDO3</Name>
                <Type>DT1602</Type>
                <BitSize>272</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1603</Index>
                <Name>HM RxPDO4</Name>
                <Type>DT1602</Type>
                <BitSize>272</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A00</Index>
                <Name>CSP TxPDO1</Name>
                <Type>DT1A00</Type>
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                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A01</Index>
                <Name>Touch TxPDO2</Name>
                <Type>DT1A01</Type>
                <BitSize>272</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>Sync manager type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>SubIndex 000</Name>
                    <Info>
                      <DefaultData>04</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SubIndex 001</Name>
                    <Info>
                      <DefaultData>01</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SubIndex 002</Name>
                    <Info>
                      <DefaultData>02</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SubIndex 003</Name>
                    <Info>
                      <DefaultData>03</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SubIndex 004</Name>
                    <Info>
                      <DefaultData>04</DefaultData>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SyncManager 2 assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>80</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SyncManager 3 assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>80</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SM output parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>488</BitSize>
                <Info>
                  <SubItem>
                    <Name>SubIndex 000</Name>
                    <Info>
                      <DefaultData>20</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization Type</Name>
                    <Info>
                      <DefaultData>0100</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization Types supported</Name>
                    <Info>
                      <DefaultData>0780</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Minimum Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Calc and Copy Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Get Cycle Time</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Delay Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sync0 Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SM-Event Missed</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Cycle Time Too Small</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sync Error</Name>
                    <Info>
                      <DefaultData>00</DefaultData>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SM input parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>488</BitSize>
                <Info>
                  <SubItem>
                    <Name>SubIndex 000</Name>
                    <Info>
                      <DefaultData>20</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization Type</Name>
                    <Info>
                      <DefaultData>2200</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization Types supported</Name>
                    <Info>
                      <DefaultData>0780</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Minimum Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Calc and Copy Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Get Cycle Time</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Delay Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sync0 Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SM-Event Missed</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Cycle Time Too Small</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sync Error</Name>
                    <Info>
                      <DefaultData>00</DefaultData>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>Slave Alias</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2001</Index>
                <Name>Slave Alias Source</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>Motor Direction</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2003</Index>
                <Name>Standby Time</Name>
                <Type>DT2003</Type>
                <BitSize>48</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2004</Index>
                <Name>Peak Current</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>Motor Resolution</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>Device Disable</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2007</Index>
                <Name>Autotune Enable</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2008</Index>
                <Name>Current Loop Kp</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2009</Index>
                <Name>Current Loop Ki</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x200A</Index>
                <Name>Current Loop Kc</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x200B</Index>
                <Name>Soft Start Time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x200C</Index>
                <Name>Enable Soft Start</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x200D</Index>
                <Name>Bus Voltage</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x200E</Index>
                <Name>OutofTolerances Enable</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x200F</Index>
                <Name>OutofTolerances alarm vlaue</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2010</Index>
                <Name>Sum of Pluse Input_H</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2011</Index>
                <Name>Sum of Pluse Input_L</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2012</Index>
                <Name>Stop for Position Limit</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2013</Index>
                <Name>Motor Return After Power On</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2014</Index>
                <Name>Physical Inputs Leve</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2015</Index>
                <Name>Filter Enable</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2016</Index>
                <Name>Filter Time</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2017</Index>
                <Name>Speed Reference</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2018</Index>
                <Name>Delt Position</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
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                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and Copy Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Get Cycle Time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Sync0 Cycle Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-Event Missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle Time Too Small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>Shift Time Too Short Counter</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync Error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Firmware Date H</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Firmware Date L</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Soft Version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2003</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min Synchronizing Cycle</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max Synchronizing Cycle</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Cur Synchronizing Cycle</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2005</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Real Current Runing</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Real Current A</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Real Current B</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2301</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standby Time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standby Current Percentage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2302</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>time of duration</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>duration selection</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2303</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>enable</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Kp</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Ki</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2304</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Lock enable</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Lock Kp</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Lock Ki</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2306</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Middle Frequency enable</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Middle Frequency Coefficient</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Begin Speed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>End Speed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Motor winding resistance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2307</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SelfAdjust Gain enable</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SelfAdjust Gain Coefficient</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SelfAdjust Gain V1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>SelfAdjust Gain V2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SelfAdjust Gain Set Limit</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2308</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SelfAdjust Current enable</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SelfAdjust Current V1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SelfAdjust Current V2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>SelfAdjust Current Set Limit</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2702</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Inputs Function</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Inputs Function0</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Inputs Function1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Inputs Function2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2703</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Inputs Filter Time</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Inputs Filter Time0</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Inputs Filter Time1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Inputs Filter Time2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2705</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Outputs Function</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Outputs Function0</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2707</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Fault List0</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Fault List1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Fault List2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Fault List3</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Fault List4</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Fault List5</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Fault List6</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Fault List7</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Fault List8</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</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>Min position limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</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>Speed during search for switch</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed during search for zero</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>80</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>Physical Outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Bit Mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x1000</Index>
                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultData>91010204</DefaultData>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <Category>m</Category>
                </Flags>
              </Object>
              <Object>
                <Index>#x1001</Index>
                <Name>Error register</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x1008</Index>
                <Name>Device name</Name>
                <Type>STRING(7)</Type>
                <BitSize>56</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <Category>o</Category>
                </Flags>
              </Object>
              <Object>
                <Index>#x1009</Index>
                <Name>Hardware version</Name>
                <Type>STRING(3)</Type>
                <BitSize>24</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <Category>o</Category>
                </Flags>
              </Object>
              <Object>
                <Index>#x100A</Index>
                <Name>Software version</Name>
                <Type>STRING(13)</Type>
                <BitSize>104</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <Category>o</Category>
                </Flags>
              </Object>
              <Object>
                <Index>#x1010</Index>
                <Name>Save Parameter</Name>
                <Type>DT1010</Type>
                <BitSize>144</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1011</Index>
                <Name>Recover Parameter</Name>
                <Type>DT1011</Type>
                <BitSize>144</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1018</Index>
                <Name>Identity</Name>
                <Type>DT1018</Type>
                <BitSize>144</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x10F1</Index>
                <Name>Error Settings</Name>
                <Type>DT10F1</Type>
                <BitSize>64</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1600</Index>
                <Name>CSP RxPDO1</Name>
                <Type>DT160x</Type>
                <BitSize>400</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1601</Index>
                <Name>PP RxPDO2</Name>
                <Type>DT160x</Type>
                <BitSize>400</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1602</Index>
                <Name>PV RxPDO3</Name>
                <Type>DT160x</Type>
                <BitSize>400</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1603</Index>
                <Name>HM RxPDO4</Name>
                <Type>DT160x</Type>
                <BitSize>400</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A00</Index>
                <Name>CSP TxPDO1</Name>
                <Type>DT1A0x</Type>
                <BitSize>400</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A01</Index>
                <Name>Touch TxPDO2</Name>
                <Type>DT1A0x</Type>
                <BitSize>400</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>Sync manager type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>SubIndex 000</Name>
                    <Info>
                      <DefaultData>04</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SubIndex 001</Name>
                    <Info>
                      <DefaultData>01</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SubIndex 002</Name>
                    <Info>
                      <DefaultData>02</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SubIndex 003</Name>
                    <Info>
                      <DefaultData>03</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SubIndex 004</Name>
                    <Info>
                      <DefaultData>04</DefaultData>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SyncManager 2 assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>80</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SyncManager 3 assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>48</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SM output parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>488</BitSize>
                <Info>
                  <SubItem>
                    <Name>SubIndex 000</Name>
                    <Info>
                      <DefaultData>20</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization Type</Name>
                    <Info>
                      <DefaultData>0100</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization Types supported</Name>
                    <Info>
                      <DefaultData>0780</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Minimum Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Calc and Copy Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Get Cycle Time</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Delay Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sync0 Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SM-Event Missed</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Cycle Time Too Small</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sync Error</Name>
                    <Info>
                      <DefaultData>00</DefaultData>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SM input parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>488</BitSize>
                <Info>
                  <SubItem>
                    <Name>SubIndex 000</Name>
                    <Info>
                      <DefaultData>20</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization Type</Name>
                    <Info>
                      <DefaultData>2200</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization Types supported</Name>
                    <Info>
                      <DefaultData>0780</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Minimum Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Calc and Copy Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Get Cycle Time</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Delay Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sync0 Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SM-Event Missed</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Cycle Time Too Small</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sync Error</Name>
                    <Info>
                      <DefaultData>00</DefaultData>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>MSG Slave Alias</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2001</Index>
                <Name>MSG Slave Alias Source</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>MSG Drive Soft Version</Name>
                <Type>DT2002</Type>
                <BitSize>64</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2003</Index>
                <Name>MSG Synchronizing Cycle</Name>
                <Type>DT2003</Type>
                <BitSize>64</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2004</Index>
                <Name>MSG Bus Voltage</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>MSG Real Current</Name>
                <Type>DT2005</Type>
                <BitSize>64</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>MSG Device temperature</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>OC Control_Mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>OC Motor Direction</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2102</Index>
                <Name>OC Motor Resolution</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2103</Index>
                <Name>OC Motor type selection</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2104</Index>
                <Name>OC OverRun Stop Mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2105</Index>
                <Name>OC Upper Computer Control</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2300</Index>
                <Name>OP Peak Current</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2301</Index>
                <Name>OP Standby Time</Name>
                <Type>DT2301</Type>
                <BitSize>48</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2302</Index>
                <Name>OP PowerOn lock shaft time setting</Name>
                <Type>DT2302</Type>
                <BitSize>48</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2303</Index>
                <Name>OP current loop gain</Name>
                <Type>DT2303</Type>
                <BitSize>64</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2304</Index>
                <Name>OP Lock gain</Name>
                <Type>DT2304</Type>
                <BitSize>64</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2305</Index>
                <Name>OP algorithm selection</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2306</Index>
                <Name>OP Middle Frequency</Name>
                <Type>DT2306</Type>
                <BitSize>96</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2307</Index>
                <Name>OP SelfAdjust Gain Set</Name>
                <Type>DT2307</Type>
                <BitSize>96</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2308</Index>
                <Name>OP SelfAdjust Current Set</Name>
                <Type>DT2308</Type>
                <BitSize>80</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2700</Index>
                <Name>FUN Physical Inputs Leve</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2701</Index>
                <Name>FUN Inputs Polarity</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2702</Index>
                <Name>FUN Inputs Function</Name>
                <Type>DT2702</Type>
                <BitSize>64</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2703</Index>
                <Name>FUN Inputs Filter Time</Name>
                <Type>DT2703</Type>
                <BitSize>64</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2704</Index>
                <Name>FUN Outputs Polarity</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2705</Index>
                <Name>FUN Outputs Function</Name>
                <Type>DT2705</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2706</Index>
                <Name>FUN Fault Detect Configure</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2707</Index>
                <Name>FUN Fault List</Name>
                <Type>DT2707</Type>
                <BitSize>160</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2708</Index>
                <Name>FUN Clear Fault Record</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2709</Index>
                <Name>FUN Clean Alarm</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Last Error Code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Control word</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Status word</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x605A</Index>
                <Name>Quick Stop</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Operation Mode</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of Operation Display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Commanded Position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                    <Category>o</Category>
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                    <Category>o</Category>
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                  <Flags>
                    <Access>ro</Access>
                  </Flags>
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                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
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                    <Category>o</Category>
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                    <Category>o</Category>
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                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
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                    <Access>ro</Access>
                    <Category>o</Category>
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                    <Category>c</Category>
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                <SubItem>
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                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
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                <SubItem>
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                  <Flags>
                    <Access>rw</Access>
                    <Category>o</Category>
                  </Flags>
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                    <Access>ro</Access>
                    <Category>c</Category>
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                    <Access>ro</Access>
                    <Category>c</Category>
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                  <Flags>
                    <Access>ro</Access>
                  </Flags>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
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              <DataType>
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                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Firmware Date H</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Firmware Date L</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Soft Version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2003</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min Synchronizing Cycle</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max Synchronizing Cycle</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Cur Synchronizing Cycle</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2005</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Real Current Runing</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Real Current A</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Real Current B</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2301</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standby Time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standby Current Percentage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2302</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>time of duration</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>duration selection</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2303</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>enable</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Kp</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Ki</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2304</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Lock enable</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Lock Kp</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Lock Ki</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2306</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Middle Frequency enable</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Middle Frequency Coefficient</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Begin Speed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>End Speed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Motor winding resistance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2307</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SelfAdjust Gain enable</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SelfAdjust Gain Coefficient</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SelfAdjust Gain V1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>SelfAdjust Gain V2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SelfAdjust Gain Set Limit</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2308</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SelfAdjust Current enable</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SelfAdjust Current V1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SelfAdjust Current V2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>SelfAdjust Current Set Limit</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2702</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Inputs Function</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Inputs Function0</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Inputs Function1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Inputs Function2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2703</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Inputs Filter Time</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Inputs Filter Time0</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Inputs Filter Time1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Inputs Filter Time2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2705</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Outputs Function</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Outputs Function0</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2707</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Fault List0</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Fault List1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Fault List2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Fault List3</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Fault List4</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Fault List5</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Fault List6</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Fault List7</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Fault List8</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</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>Min position limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</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>Speed during search for switch</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed during search for zero</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>80</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>Physical Outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Bit Mask</Name>
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                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x1000</Index>
                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultData>91010204</DefaultData>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <Category>m</Category>
                </Flags>
              </Object>
              <Object>
                <Index>#x1001</Index>
                <Name>Error register</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x1008</Index>
                <Name>Device name</Name>
                <Type>STRING(7)</Type>
                <BitSize>56</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <Category>o</Category>
                </Flags>
              </Object>
              <Object>
                <Index>#x1009</Index>
                <Name>Hardware version</Name>
                <Type>STRING(3)</Type>
                <BitSize>24</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <Category>o</Category>
                </Flags>
              </Object>
              <Object>
                <Index>#x100A</Index>
                <Name>Software version</Name>
                <Type>STRING(13)</Type>
                <BitSize>104</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <Category>o</Category>
                </Flags>
              </Object>
              <Object>
                <Index>#x1010</Index>
                <Name>Save Parameter</Name>
                <Type>DT1010</Type>
                <BitSize>144</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1011</Index>
                <Name>Recover Parameter</Name>
                <Type>DT1011</Type>
                <BitSize>144</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1018</Index>
                <Name>Identity</Name>
                <Type>DT1018</Type>
                <BitSize>144</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x10F1</Index>
                <Name>Error Settings</Name>
                <Type>DT10F1</Type>
                <BitSize>64</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1600</Index>
                <Name>CSP RxPDO1</Name>
                <Type>DT160x</Type>
                <BitSize>400</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1601</Index>
                <Name>PP RxPDO2</Name>
                <Type>DT160x</Type>
                <BitSize>400</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1602</Index>
                <Name>PV RxPDO3</Name>
                <Type>DT160x</Type>
                <BitSize>400</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1603</Index>
                <Name>HM RxPDO4</Name>
                <Type>DT160x</Type>
                <BitSize>400</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A00</Index>
                <Name>CSP TxPDO1</Name>
                <Type>DT1A0x</Type>
                <BitSize>400</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A01</Index>
                <Name>Touch TxPDO2</Name>
                <Type>DT1A0x</Type>
                <BitSize>400</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>Sync manager type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>SubIndex 000</Name>
                    <Info>
                      <DefaultData>04</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SubIndex 001</Name>
                    <Info>
                      <DefaultData>01</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SubIndex 002</Name>
                    <Info>
                      <DefaultData>02</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SubIndex 003</Name>
                    <Info>
                      <DefaultData>03</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SubIndex 004</Name>
                    <Info>
                      <DefaultData>04</DefaultData>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SyncManager 2 assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>80</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SyncManager 3 assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>48</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SM output parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>488</BitSize>
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                  <SubItem>
                    <Name>SubIndex 000</Name>
                    <Info>
                      <DefaultData>20</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization Type</Name>
                    <Info>
                      <DefaultData>0100</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization Types supported</Name>
                    <Info>
                      <DefaultData>0780</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Minimum Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Calc and Copy Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Get Cycle Time</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Delay Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sync0 Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SM-Event Missed</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Cycle Time Too Small</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sync Error</Name>
                    <Info>
                      <DefaultData>00</DefaultData>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SM input parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>488</BitSize>
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                  <SubItem>
                    <Name>SubIndex 000</Name>
                    <Info>
                      <DefaultData>20</DefaultData>
                    </Info>
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                  <SubItem>
                    <Name>Synchronization Type</Name>
                    <Info>
                      <DefaultData>2200</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization Types supported</Name>
                    <Info>
                      <DefaultData>0780</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Minimum Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Calc and Copy Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Get Cycle Time</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
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                  <SubItem>
                    <Name>Delay Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sync0 Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SM-Event Missed</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Cycle Time Too Small</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sync Error</Name>
                    <Info>
                      <DefaultData>00</DefaultData>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>MSG Slave Alias</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2001</Index>
                <Name>MSG Slave Alias Source</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>MSG Drive Soft Version</Name>
                <Type>DT2002</Type>
                <BitSize>64</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2003</Index>
                <Name>MSG Synchronizing Cycle</Name>
                <Type>DT2003</Type>
                <BitSize>64</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2004</Index>
                <Name>MSG Bus Voltage</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>MSG Real Current</Name>
                <Type>DT2005</Type>
                <BitSize>64</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>MSG Device temperature</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>OC Control_Mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>OC Motor Direction</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2102</Index>
                <Name>OC Motor Resolution</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2103</Index>
                <Name>OC Motor type selection</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2104</Index>
                <Name>OC OverRun Stop Mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2105</Index>
                <Name>OC Upper Computer Control</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2300</Index>
                <Name>OP Peak Current</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2301</Index>
                <Name>OP Standby Time</Name>
                <Type>DT2301</Type>
                <BitSize>48</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2302</Index>
                <Name>OP PowerOn lock shaft time setting</Name>
                <Type>DT2302</Type>
                <BitSize>48</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2303</Index>
                <Name>OP current loop gain</Name>
                <Type>DT2303</Type>
                <BitSize>64</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2304</Index>
                <Name>OP Lock gain</Name>
                <Type>DT2304</Type>
                <BitSize>64</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2305</Index>
                <Name>OP algorithm selection</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2306</Index>
                <Name>OP Middle Frequency</Name>
                <Type>DT2306</Type>
                <BitSize>96</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2307</Index>
                <Name>OP SelfAdjust Gain Set</Name>
                <Type>DT2307</Type>
                <BitSize>96</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2308</Index>
                <Name>OP SelfAdjust Current Set</Name>
                <Type>DT2308</Type>
                <BitSize>80</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2700</Index>
                <Name>FUN Physical Inputs Leve</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2701</Index>
                <Name>FUN Inputs Polarity</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2702</Index>
                <Name>FUN Inputs Function</Name>
                <Type>DT2702</Type>
                <BitSize>64</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2703</Index>
                <Name>FUN Inputs Filter Time</Name>
                <Type>DT2703</Type>
                <BitSize>64</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2704</Index>
                <Name>FUN Outputs Polarity</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2705</Index>
                <Name>FUN Outputs Function</Name>
                <Type>DT2705</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2706</Index>
                <Name>FUN Fault Detect Configure</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2707</Index>
                <Name>FUN Fault List</Name>
                <Type>DT2707</Type>
                <BitSize>160</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2708</Index>
                <Name>FUN Clear Fault Record</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2709</Index>
                <Name>FUN Clean Alarm</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Last Error Code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Control word</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Status word</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x605A</Index>
                <Name>Quick Stop</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Operation Mode</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of Operation Display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Commanded Position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Commanded Velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Actual Velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target Position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607C</Index>
                <Name>Home offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>SubIndex 000</Name>
                    <Info>
                      <DefaultValue>#x02</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <MinValue>#x80000000</MinValue>
                      <MaxValue>#x7FFFFFFF</MaxValue>
                      <DefaultValue>#x80000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <MinValue>#x80000000</MinValue>
                      <MaxValue>#x7FFFFFFF</MaxValue>
                      <DefaultValue>#x7FFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
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                    <Access>ro</Access>
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                </SubItem>
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                    <Access>rw</Access>
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                <SubItem>
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                    <Access>rw</Access>
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                <Name>DT1A0x</Name>
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                    <Access>ro</Access>
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                    <Access>rw</Access>
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                    <Access>rw</Access>
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                    <Access>rw</Access>
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                    <Access>rw</Access>
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                    <Access WriteRestrictions="PreOP">rw</Access>
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                <SubItem>
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                    <Access>rw</Access>
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                </SubItem>
                <SubItem>
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                    <Access>rw</Access>
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                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Category>o</Category>
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                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
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                  <BitOffs>32</BitOffs>
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                    <Access>ro</Access>
                    <Category>o</Category>
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                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization Types supported</Name>
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                    <Access>ro</Access>
                    <Category>o</Category>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and Copy Time</Name>
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                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Flags>
                    <Access>rw</Access>
                    <Category>c</Category>
                  </Flags>
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                <SubItem>
                  <SubIdx>9</SubIdx>
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                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
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                <SubItem>
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                  <Flags>
                    <Access>rw</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
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                    <Access>ro</Access>
                    <Category>c</Category>
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                  <Name>Cycle Time Too Small</Name>
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                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>Shift Time Too Short Counter</Name>
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                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
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              <DataType>
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                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
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                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
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                    <Category>o</Category>
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                <SubItem>
                  <SubIdx>4</SubIdx>
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                    <Category>o</Category>
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                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
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                <SubItem>
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                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
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                <SubItem>
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                  <Flags>
                    <Access>rw</Access>
                    <Category>c</Category>
                  </Flags>
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                <SubItem>
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                  <Name>Delay Time</Name>
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                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Sync0 Cycle Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-Event Missed</Name>
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                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
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                  <Name>Cycle Time Too Small</Name>
                  <Type>UINT</Type>
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                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
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                <SubItem>
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                  <Name>Shift Time Too Short Counter</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync Error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
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              <DataType>
                <Name>DT2002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Firmware Date H</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Firmware Date L</Name>
                  <Type>UINT</Type>
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                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Soft Version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2003</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min Synchronizing Cycle</Name>
                  <Type>UINT</Type>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max Synchronizing Cycle</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Cur Synchronizing Cycle</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2005</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Real Current Runing</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Real Current A</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Real Current B</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2301</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standby Time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standby Current Percentage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2302</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>time of duration</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>duration selection</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2303</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>enable</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Kp</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Ki</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2304</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Lock enable</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Lock Kp</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Lock Ki</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2306</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Middle Frequency enable</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Middle Frequency Coefficient</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Begin Speed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>End Speed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Motor winding resistance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2307</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SelfAdjust Gain enable</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SelfAdjust Gain Coefficient</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SelfAdjust Gain V1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>SelfAdjust Gain V2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SelfAdjust Gain Set Limit</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2308</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SelfAdjust Current enable</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SelfAdjust Current V1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SelfAdjust Current V2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>SelfAdjust Current Set Limit</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2702</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Inputs Function</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Inputs Function0</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Inputs Function1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Inputs Function2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2703</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Inputs Filter Time</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Inputs Filter Time0</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Inputs Filter Time1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Inputs Filter Time2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2705</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Outputs Function</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Outputs Function0</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2707</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Fault List0</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Fault List1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Fault List2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Fault List3</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Fault List4</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Fault List5</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Fault List6</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Fault List7</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Fault List8</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</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>Min position limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</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>Speed during search for switch</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed during search for zero</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>80</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>Physical Outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Bit Mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x1000</Index>
                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultData>91010204</DefaultData>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <Category>m</Category>
                </Flags>
              </Object>
              <Object>
                <Index>#x1001</Index>
                <Name>Error register</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x1008</Index>
                <Name>Device name</Name>
                <Type>STRING(7)</Type>
                <BitSize>56</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <Category>o</Category>
                </Flags>
              </Object>
              <Object>
                <Index>#x1009</Index>
                <Name>Hardware version</Name>
                <Type>STRING(3)</Type>
                <BitSize>24</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <Category>o</Category>
                </Flags>
              </Object>
              <Object>
                <Index>#x100A</Index>
                <Name>Software version</Name>
                <Type>STRING(13)</Type>
                <BitSize>104</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <Category>o</Category>
                </Flags>
              </Object>
              <Object>
                <Index>#x1010</Index>
                <Name>Save Parameter</Name>
                <Type>DT1010</Type>
                <BitSize>144</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1011</Index>
                <Name>Recover Parameter</Name>
                <Type>DT1011</Type>
                <BitSize>144</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1018</Index>
                <Name>Identity</Name>
                <Type>DT1018</Type>
                <BitSize>144</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
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              <Object>
                <Index>#x10F1</Index>
                <Name>Error Settings</Name>
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                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1600</Index>
                <Name>CSP RxPDO1</Name>
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                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1601</Index>
                <Name>PP RxPDO2</Name>
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                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1602</Index>
                <Name>PV RxPDO3</Name>
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                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1603</Index>
                <Name>HM RxPDO4</Name>
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                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A00</Index>
                <Name>CSP TxPDO1</Name>
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                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A01</Index>
                <Name>Touch TxPDO2</Name>
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                <BitSize>400</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>Sync manager type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
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                  <SubItem>
                    <Name>SubIndex 000</Name>
                    <Info>
                      <DefaultData>04</DefaultData>
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                  <SubItem>
                    <Name>SubIndex 001</Name>
                    <Info>
                      <DefaultData>01</DefaultData>
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                  <SubItem>
                    <Name>SubIndex 002</Name>
                    <Info>
                      <DefaultData>02</DefaultData>
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                  <SubItem>
                    <Name>SubIndex 003</Name>
                    <Info>
                      <DefaultData>03</DefaultData>
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                  <SubItem>
                    <Name>SubIndex 004</Name>
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                      <DefaultData>04</DefaultData>
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                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SyncManager 2 assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>80</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SyncManager 3 assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>48</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SM output parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>488</BitSize>
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                  <SubItem>
                    <Name>SubIndex 000</Name>
                    <Info>
                      <DefaultData>20</DefaultData>
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                  <SubItem>
                    <Name>Synchronization Type</Name>
                    <Info>
                      <DefaultData>0100</DefaultData>
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                  <SubItem>
                    <Name>Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
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                  <SubItem>
                    <Name>Synchronization Types supported</Name>
                    <Info>
                      <DefaultData>0780</DefaultData>
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                  <SubItem>
                    <Name>Minimum Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
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                  <SubItem>
                    <Name>Calc and Copy Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
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                  <SubItem>
                    <Name>Get Cycle Time</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
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                  <SubItem>
                    <Name>Delay Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
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                  <SubItem>
                    <Name>Sync0 Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
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                  <SubItem>
                    <Name>SM-Event Missed</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
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                  <SubItem>
                    <Name>Cycle Time Too Small</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
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                  <SubItem>
                    <Name>Sync Error</Name>
                    <Info>
                      <DefaultData>00</DefaultData>
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              <Object>
                <Index>#x1C33</Index>
                <Name>SM input parameter</Name>
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                    <Name>SubIndex 000</Name>
                    <Info>
                      <DefaultData>20</DefaultData>
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                  <SubItem>
                    <Name>Synchronization Type</Name>
                    <Info>
                      <DefaultData>2200</DefaultData>
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                  <SubItem>
                    <Name>Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
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                  <SubItem>
                    <Name>Synchronization Types supported</Name>
                    <Info>
                      <DefaultData>0780</DefaultData>
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                  <SubItem>
                    <Name>Minimum Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
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                  <SubItem>
                    <Name>Calc and Copy Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
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                  <SubItem>
                    <Name>Get Cycle Time</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
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                  <SubItem>
                    <Name>Delay Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
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                  <SubItem>
                    <Name>Sync0 Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
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                  <SubItem>
                    <Name>SM-Event Missed</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
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                  <SubItem>
                    <Name>Cycle Time Too Small</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
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                  <SubItem>
                    <Name>Sync Error</Name>
                    <Info>
                      <DefaultData>00</DefaultData>
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                <Index>#x2000</Index>
                <Name>MSG Slave Alias</Name>
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                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
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              </Object>
              <Object>
                <Index>#x2001</Index>
                <Name>MSG Slave Alias Source</Name>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
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              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>MSG Drive Soft Version</Name>
                <Type>DT2002</Type>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
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              </Object>
              <Object>
                <Index>#x2003</Index>
                <Name>MSG Synchronizing Cycle</Name>
                <Type>DT2003</Type>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
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              </Object>
              <Object>
                <Index>#x2004</Index>
                <Name>MSG Bus Voltage</Name>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
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              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>MSG Real Current</Name>
                <Type>DT2005</Type>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
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              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>MSG Device temperature</Name>
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                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
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                <Index>#x2100</Index>
                <Name>OC Control_Mode</Name>
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                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
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              </Object>
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                <Index>#x2101</Index>
                <Name>OC Motor Direction</Name>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2102</Index>
                <Name>OC Motor Resolution</Name>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2103</Index>
                <Name>OC Motor type selection</Name>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2104</Index>
                <Name>OC OverRun Stop Mode</Name>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2105</Index>
                <Name>OC Upper Computer Control</Name>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
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                <Index>#x2300</Index>
                <Name>OP Peak Current</Name>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
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              </Object>
              <Object>
                <Index>#x2301</Index>
                <Name>OP Standby Time</Name>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2302</Index>
                <Name>OP PowerOn lock shaft time setting</Name>
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                <BitSize>48</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2303</Index>
                <Name>OP current loop gain</Name>
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                <BitSize>64</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2304</Index>
                <Name>OP Lock gain</Name>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2305</Index>
                <Name>OP algorithm selection</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2306</Index>
                <Name>OP Middle Frequency</Name>
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                <BitSize>96</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2307</Index>
                <Name>OP SelfAdjust Gain Set</Name>
                <Type>DT2307</Type>
                <BitSize>96</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2308</Index>
                <Name>OP SelfAdjust Current Set</Name>
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                <BitSize>80</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2700</Index>
                <Name>FUN Physical Inputs Leve</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2701</Index>
                <Name>FUN Inputs Polarity</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2702</Index>
                <Name>FUN Inputs Function</Name>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2703</Index>
                <Name>FUN Inputs Filter Time</Name>
                <Type>DT2703</Type>
                <BitSize>64</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2704</Index>
                <Name>FUN Outputs Polarity</Name>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2705</Index>
                <Name>FUN Outputs Function</Name>
                <Type>DT2705</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2706</Index>
                <Name>FUN Fault Detect Configure</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2707</Index>
                <Name>FUN Fault List</Name>
                <Type>DT2707</Type>
                <BitSize>160</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2708</Index>
                <Name>FUN Clear Fault Record</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2709</Index>
                <Name>FUN Clean Alarm</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Last Error Code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Control word</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Status word</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x605A</Index>
                <Name>Quick Stop</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Operation Mode</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of Operation Display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Commanded Position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Commanded Velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Actual Velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target Position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607C</Index>
                <Name>Home offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>SubIndex 000</Name>
                    <Info>
                      <DefaultValue>#x02</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <MinValue>#x80000000</MinValue>
                      <MaxValue>#x7FFFFFFF</MaxValue>
                      <DefaultValue>#x80000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <MinValue>#x80000000</MinValue>
                      <MaxValue>#x7FFFFFFF</MaxValue>
                      <DefaultValue>#x7FFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6082</Index>
                <Name>Start velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick Stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing Method</Name>
                <Type>SINT</Type>
                <BitSize>08</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe control</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe pos1 pos value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
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                    <Access>rw</Access>
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                    <Access>rw</Access>
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                  <Flags>
                    <Access>rw</Access>
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                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
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                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
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                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
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                    <Access>ro</Access>
                    <Category>m</Category>
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                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle Time</Name>
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                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization Types supported</Name>
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                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
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                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and Copy Time</Name>
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                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
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                  <Flags>
                    <Access>rw</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay Time</Name>
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                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Sync0 Cycle Time</Name>
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                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-Event Missed</Name>
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                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle Time Too Small</Name>
                  <Type>UINT</Type>
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                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>Shift Time Too Short Counter</Name>
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                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync Error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
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                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
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              <DataType>
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                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
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                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization Type</Name>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle Time</Name>
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                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
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                <SubItem>
                  <SubIdx>4</SubIdx>
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                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
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                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
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                  <SubIdx>6</SubIdx>
                  <Name>Calc and Copy Time</Name>
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                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
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                  <Flags>
                    <Access>rw</Access>
                    <Category>c</Category>
                  </Flags>
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                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
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                  <Name>Sync0 Cycle Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-Event Missed</Name>
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                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle Time Too Small</Name>
                  <Type>UINT</Type>
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                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>Shift Time Too Short Counter</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync Error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
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              <DataType>
                <Name>DT2002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
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                  <SubIdx>1</SubIdx>
                  <Name>Firmware Date H</Name>
                  <Type>UINT</Type>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Firmware Date L</Name>
                  <Type>UINT</Type>
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                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
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                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Soft Version</Name>
                  <Type>UINT</Type>
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                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2003</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
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                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
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                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
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                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
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                  <Type>UINT</Type>
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                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2005</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Real Current Runing</Name>
                  <Type>UINT</Type>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Real Current A</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Real Current B</Name>
                  <Type>UINT</Type>
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                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2301</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standby Time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standby Current Percentage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2302</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>time of duration</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>duration selection</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2303</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>enable</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Kp</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Ki</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2304</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Lock enable</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Lock Kp</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Lock Ki</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2306</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Middle Frequency enable</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Middle Frequency Coefficient</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Begin Speed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>End Speed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Motor winding resistance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2307</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SelfAdjust Gain enable</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SelfAdjust Gain Coefficient</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SelfAdjust Gain V1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>SelfAdjust Gain V2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SelfAdjust Gain Set Limit</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2308</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SelfAdjust Current enable</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SelfAdjust Current V1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SelfAdjust Current V2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>SelfAdjust Current Set Limit</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2702</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Inputs Function</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Inputs Function0</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Inputs Function1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Inputs Function2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2703</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Inputs Filter Time</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Inputs Filter Time0</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Inputs Filter Time1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Inputs Filter Time2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2705</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Outputs Function</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Outputs Function0</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2707</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Fault List0</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Fault List1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Fault List2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Fault List3</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Fault List4</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Fault List5</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Fault List6</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Fault List7</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Fault List8</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</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>Min position limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</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>Speed during search for switch</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed during search for zero</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>80</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>Physical Outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Bit Mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x1000</Index>
                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultData>91010204</DefaultData>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <Category>m</Category>
                </Flags>
              </Object>
              <Object>
                <Index>#x1001</Index>
                <Name>Error register</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x1008</Index>
                <Name>Device name</Name>
                <Type>STRING(7)</Type>
                <BitSize>56</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <Category>o</Category>
                </Flags>
              </Object>
              <Object>
                <Index>#x1009</Index>
                <Name>Hardware version</Name>
                <Type>STRING(3)</Type>
                <BitSize>24</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <Category>o</Category>
                </Flags>
              </Object>
              <Object>
                <Index>#x100A</Index>
                <Name>Software version</Name>
                <Type>STRING(13)</Type>
                <BitSize>104</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <Category>o</Category>
                </Flags>
              </Object>
              <Object>
                <Index>#x1010</Index>
                <Name>Save Parameter</Name>
                <Type>DT1010</Type>
                <BitSize>144</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1011</Index>
                <Name>Recover Parameter</Name>
                <Type>DT1011</Type>
                <BitSize>144</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1018</Index>
                <Name>Identity</Name>
                <Type>DT1018</Type>
                <BitSize>144</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x10F1</Index>
                <Name>Error Settings</Name>
                <Type>DT10F1</Type>
                <BitSize>64</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1600</Index>
                <Name>CSP RxPDO1</Name>
                <Type>DT160x</Type>
                <BitSize>400</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1601</Index>
                <Name>PP RxPDO2</Name>
                <Type>DT160x</Type>
                <BitSize>400</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1602</Index>
                <Name>PV RxPDO3</Name>
                <Type>DT160x</Type>
                <BitSize>400</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1603</Index>
                <Name>HM RxPDO4</Name>
                <Type>DT160x</Type>
                <BitSize>400</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A00</Index>
                <Name>CSP TxPDO1</Name>
                <Type>DT1A0x</Type>
                <BitSize>400</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A01</Index>
                <Name>Touch TxPDO2</Name>
                <Type>DT1A0x</Type>
                <BitSize>400</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>Sync manager type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>SubIndex 000</Name>
                    <Info>
                      <DefaultData>04</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SubIndex 001</Name>
                    <Info>
                      <DefaultData>01</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SubIndex 002</Name>
                    <Info>
                      <DefaultData>02</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SubIndex 003</Name>
                    <Info>
                      <DefaultData>03</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SubIndex 004</Name>
                    <Info>
                      <DefaultData>04</DefaultData>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SyncManager 2 assignment</Name>
                <Type>DT1C12</Type>
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                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SyncManager 3 assignment</Name>
                <Type>DT1C13</Type>
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                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SM output parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>488</BitSize>
                <Info>
                  <SubItem>
                    <Name>SubIndex 000</Name>
                    <Info>
                      <DefaultData>20</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization Type</Name>
                    <Info>
                      <DefaultData>0100</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization Types supported</Name>
                    <Info>
                      <DefaultData>0780</DefaultData>
                    </Info>
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                  <SubItem>
                    <Name>Minimum Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Calc and Copy Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Get Cycle Time</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
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                  <SubItem>
                    <Name>Delay Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sync0 Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SM-Event Missed</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Cycle Time Too Small</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sync Error</Name>
                    <Info>
                      <DefaultData>00</DefaultData>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SM input parameter</Name>
                <Type>DT1C33</Type>
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                  <SubItem>
                    <Name>SubIndex 000</Name>
                    <Info>
                      <DefaultData>20</DefaultData>
                    </Info>
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                  <SubItem>
                    <Name>Synchronization Type</Name>
                    <Info>
                      <DefaultData>2200</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization Types supported</Name>
                    <Info>
                      <DefaultData>0780</DefaultData>
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                  <SubItem>
                    <Name>Minimum Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Calc and Copy Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
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                  <SubItem>
                    <Name>Get Cycle Time</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
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                  <SubItem>
                    <Name>Delay Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sync0 Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SM-Event Missed</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Cycle Time Too Small</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sync Error</Name>
                    <Info>
                      <DefaultData>00</DefaultData>
                    </Info>
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                </Info>
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              <Object>
                <Index>#x2000</Index>
                <Name>MSG Slave Alias</Name>
                <Type>UINT</Type>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2001</Index>
                <Name>MSG Slave Alias Source</Name>
                <Type>UINT</Type>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>MSG Drive Soft Version</Name>
                <Type>DT2002</Type>
                <BitSize>64</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2003</Index>
                <Name>MSG Synchronizing Cycle</Name>
                <Type>DT2003</Type>
                <BitSize>64</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2004</Index>
                <Name>MSG Bus Voltage</Name>
                <Type>UINT</Type>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>MSG Real Current</Name>
                <Type>DT2005</Type>
                <BitSize>64</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2006</Index>
                <Name>MSG Device temperature</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>OC Control_Mode</Name>
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                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>OC Motor Direction</Name>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2102</Index>
                <Name>OC Motor Resolution</Name>
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                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2103</Index>
                <Name>OC Motor type selection</Name>
                <Type>UINT</Type>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2104</Index>
                <Name>OC OverRun Stop Mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2105</Index>
                <Name>OC Upper Computer Control</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2300</Index>
                <Name>OP Peak Current</Name>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2301</Index>
                <Name>OP Standby Time</Name>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2302</Index>
                <Name>OP PowerOn lock shaft time setting</Name>
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                <BitSize>48</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2303</Index>
                <Name>OP current loop gain</Name>
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                <BitSize>64</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2304</Index>
                <Name>OP Lock gain</Name>
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                <BitSize>64</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2305</Index>
                <Name>OP algorithm selection</Name>
                <Type>UINT</Type>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2306</Index>
                <Name>OP Middle Frequency</Name>
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                <BitSize>96</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2307</Index>
                <Name>OP SelfAdjust Gain Set</Name>
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                <BitSize>96</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2308</Index>
                <Name>OP SelfAdjust Current Set</Name>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2700</Index>
                <Name>FUN Physical Inputs Leve</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2701</Index>
                <Name>FUN Inputs Polarity</Name>
                <Type>UINT</Type>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2702</Index>
                <Name>FUN Inputs Function</Name>
                <Type>DT2702</Type>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2703</Index>
                <Name>FUN Inputs Filter Time</Name>
                <Type>DT2703</Type>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2704</Index>
                <Name>FUN Outputs Polarity</Name>
                <Type>UINT</Type>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2705</Index>
                <Name>FUN Outputs Function</Name>
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                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2706</Index>
                <Name>FUN Fault Detect Configure</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2707</Index>
                <Name>FUN Fault List</Name>
                <Type>DT2707</Type>
                <BitSize>160</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2708</Index>
                <Name>FUN Clear Fault Record</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2709</Index>
                <Name>FUN Clean Alarm</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Last Error Code</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6040</Index>
                <Name>Control word</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6041</Index>
                <Name>Status word</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x605A</Index>
                <Name>Quick Stop</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6060</Index>
                <Name>Operation Mode</Name>
                <Type>SINT</Type>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6061</Index>
                <Name>Modes of Operation Display</Name>
                <Type>SINT</Type>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Commanded Position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Commanded Velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Actual Velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target Position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607C</Index>
                <Name>Home offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
                <Info>
                  <SubItem>
                    <Name>SubIndex 000</Name>
                    <Info>
                      <DefaultValue>#x02</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <MinValue>#x80000000</MinValue>
                      <MaxValue>#x7FFFFFFF</MaxValue>
                      <DefaultValue>#x80000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <MinValue>#x80000000</MinValue>
                      <MaxValue>#x7FFFFFFF</MaxValue>
                      <DefaultValue>#x7FFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6082</Index>
                <Name>Start velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick Stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing Method</Name>
                <Type>SINT</Type>
                <BitSize>08</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe control</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe pos1 pos value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe pos1 neg value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BC</Index>
                <Name>Touch probe pos2 pos value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BD</Index>
                <Name>Touch probe pos2 neg value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch Probe 1 Positive Counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch Probe 1 Negative Counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D7</Index>
                <Name>Touch Probe 2 Positive Counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D8</Index>
                <Name>Touch Probe 2 Negative Counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>80</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target Velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
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                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SubIndex 002</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SubIndex 003</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>SubIndex 004</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SubIndex 005</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>SubIndex 006</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>176</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>SubIndex 007</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>SubIndex 008</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>240</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>SubIndex 009</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>272</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>SubIndex 010</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SubIndex 011</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>336</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>SubIndex 012</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>368</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </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>SubIndex 000</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>DT1C12</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sync Manager 2, PDO Mapping 0</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Sync Manager 2, PDO Mapping 1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Sync Manager 2, PDO Mapping 2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Sync Manager 2, PDO Mapping 3</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sync Manager 3, PDO Mapping 0</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Sync Manager 3, PDO Mapping 1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>488</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization Type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization Types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum Cycle Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and Copy Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Get Cycle Time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Sync0 Cycle Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-Event Missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle Time Too Small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>Shift Time Too Short Counter</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync Error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>488</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization Type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization Types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum Cycle Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and Copy Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Get Cycle Time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Sync0 Cycle Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-Event Missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle Time Too Small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>Shift Time Too Short Counter</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync Error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Firmware Date H</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Firmware Date L</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Soft Version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2003</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min Synchronizing Cycle</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max Synchronizing Cycle</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Cur Synchronizing Cycle</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2005</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Real Current Runing</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Real Current A</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Real Current B</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2301</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standby Time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standby Current Percentage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2302</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>time of duration</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>duration selection</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2303</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>enable</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Kp</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Ki</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2304</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Lock enable</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Lock Kp</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Lock Ki</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2306</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Middle Frequency enable</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Middle Frequency Coefficient</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Begin Speed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>End Speed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Motor winding resistance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2307</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SelfAdjust Gain enable</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SelfAdjust Gain Coefficient</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SelfAdjust Gain V1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>SelfAdjust Gain V2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SelfAdjust Gain Set Limit</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2308</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SelfAdjust Current enable</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SelfAdjust Current V1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SelfAdjust Current V2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>SelfAdjust Current Set Limit</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2500</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>CL Run Peak Min Current Set</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>CL Run Peak Max Current Set</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2501</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>CL Lock Min Peak Current Set</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>CL Lock Max Peak Current Set</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2502</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>CL Current SoftBoot Time1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>CL Current SoftBoot Time2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2503</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>CL Current Loop Gain Kp</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>CL Current Loop Gain Ki</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2504</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>CL Velocity Loop Gain Kp</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>CL Velocity Loop Gain Qk</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2505</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>CL Position Loop Gain Kp</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>CL Position Loop Gain Ki</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2506</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>CL Lock Current Gain Kp</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>CL Lock Current Gain Ki</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2507</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>CL Velocity Ref Filtering Coefficient F1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>CL Velocity Ref Filtering Coefficient F2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>CL Velocity Fdb Filtering Coefficient F1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>CL Velocity Fdb Filtering Coefficient F2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2508</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>CL Lock Accuracy Threshold1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>CL Lock Accuracy Threshold2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2509</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>CL Position Over Alarm Enable</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>CL Position Over Alarm Value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>CL Position Over Alarm Time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT250A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>CL Lock Current Dynamic Set Value1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>CL Lock Current Dynamic Set Value2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT250B</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>CL Stalled Home Set RetainTim</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>CL Stalled Home Set Current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>CL Stalled Home Set Limit Value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT250C</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>CL Lock Velocity Loop Set Enable</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>CL Lock Velocity Loop Set Limit</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT250D</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>CL LockB Algorithm Threshold 1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>CL LockB Algorithm Threshold 2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2702</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Inputs Function</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Inputs Function0</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Inputs Function1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Inputs Function2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2703</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Inputs Filter Time</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Inputs Filter Time0</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Inputs Filter Time1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Inputs Filter Time2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2705</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Outputs Function</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Outputs Function0</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2707</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Fault List0</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Fault List1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Fault List2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Fault List3</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Fault List4</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Fault List5</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Fault List6</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Fault List7</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Fault List8</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT270A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>FUN Phase Memory Enable</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>FUN Phase Memory Time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</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>Min position limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</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>Speed during search for switch</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed during search for zero</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>80</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>Physical Outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Bit Mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x1000</Index>
                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultData>91010204</DefaultData>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <Category>m</Category>
                </Flags>
              </Object>
              <Object>
                <Index>#x1001</Index>
                <Name>Error register</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x1008</Index>
                <Name>Device name</Name>
                <Type>STRING(8)</Type>
                <BitSize>64</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <Category>o</Category>
                </Flags>
              </Object>
              <Object>
                <Index>#x1009</Index>
                <Name>Hardware version</Name>
                <Type>STRING(3)</Type>
                <BitSize>24</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <Category>o</Category>
                </Flags>
              </Object>
              <Object>
                <Index>#x100A</Index>
                <Name>Software version</Name>
                <Type>STRING(13)</Type>
                <BitSize>104</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <Category>o</Category>
                </Flags>
              </Object>
              <Object>
                <Index>#x1010</Index>
                <Name>Save Parameter</Name>
                <Type>DT1010</Type>
                <BitSize>144</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1011</Index>
                <Name>Recover Parameter</Name>
                <Type>DT1011</Type>
                <BitSize>144</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1018</Index>
                <Name>Identity</Name>
                <Type>DT1018</Type>
                <BitSize>144</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x10F1</Index>
                <Name>Error Settings</Name>
                <Type>DT10F1</Type>
                <BitSize>64</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1600</Index>
                <Name>CSP RxPDO1</Name>
                <Type>DT160x</Type>
                <BitSize>400</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1601</Index>
                <Name>PP RxPDO2</Name>
                <Type>DT160x</Type>
                <BitSize>400</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1602</Index>
                <Name>PV RxPDO3</Name>
                <Type>DT160x</Type>
                <BitSize>400</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1603</Index>
                <Name>HM RxPDO4</Name>
                <Type>DT160x</Type>
                <BitSize>400</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A00</Index>
                <Name>CSP TxPDO1</Name>
                <Type>DT1A0x</Type>
                <BitSize>400</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A01</Index>
                <Name>Touch TxPDO2</Name>
                <Type>DT1A0x</Type>
                <BitSize>400</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>Sync manager type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>SubIndex 000</Name>
                    <Info>
                      <DefaultData>04</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SubIndex 001</Name>
                    <Info>
                      <DefaultData>01</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SubIndex 002</Name>
                    <Info>
                      <DefaultData>02</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SubIndex 003</Name>
                    <Info>
                      <DefaultData>03</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SubIndex 004</Name>
                    <Info>
                      <DefaultData>04</DefaultData>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SyncManager 2 assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>80</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SyncManager 3 assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>48</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SM output parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>488</BitSize>
                <Info>
                  <SubItem>
                    <Name>SubIndex 000</Name>
                    <Info>
                      <DefaultData>20</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization Type</Name>
                    <Info>
                      <DefaultData>0100</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization Types supported</Name>
                    <Info>
                      <DefaultData>0780</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Minimum Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Calc and Copy Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Get Cycle Time</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Delay Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sync0 Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SM-Event Missed</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Cycle Time Too Small</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sync Error</Name>
                    <Info>
                      <DefaultData>00</DefaultData>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SM input parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>488</BitSize>
                <Info>
                  <SubItem>
                    <Name>SubIndex 000</Name>
                    <Info>
                      <DefaultData>20</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization Type</Name>
                    <Info>
                      <DefaultData>2200</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization Types supported</Name>
                    <Info>
                      <DefaultData>0780</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Minimum Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Calc and Copy Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Get Cycle Time</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Delay Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sync0 Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SM-Event Missed</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Cycle Time Too Small</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sync Error</Name>
                    <Info>
                      <DefaultData>00</DefaultData>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>MSG Slave Alias</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2001</Index>
                <Name>MSG Slave Alias Source</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>MSG Drive Soft Version</Name>
                <Type>DT2002</Type>
                <BitSize>64</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2003</Index>
                <Name>MSG Synchronizing Cycle</Name>
                <Type>DT2003</Type>
                <BitSize>64</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2004</Index>
                <Name>MSG Bus Voltage</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>MSG Real Current</Name>
                <Type>DT2005</Type>
                <BitSize>64</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>OC Control_Mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>OC Motor Direction</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2102</Index>
                <Name>OC Motor Resolution</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2103</Index>
                <Name>OC Motor type selection</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2104</Index>
                <Name>OC OverRun Stop Mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2300</Index>
                <Name>OP Peak Current</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2301</Index>
                <Name>OP Standby Time</Name>
                <Type>DT2301</Type>
                <BitSize>48</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2302</Index>
                <Name>OP PowerOn lock shaft time setting</Name>
                <Type>DT2302</Type>
                <BitSize>48</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2303</Index>
                <Name>OP current loop gain</Name>
                <Type>DT2303</Type>
                <BitSize>64</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2304</Index>
                <Name>OP Lock gain</Name>
                <Type>DT2304</Type>
                <BitSize>64</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2305</Index>
                <Name>OP algorithm selection</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2306</Index>
                <Name>OP Middle Frequency</Name>
                <Type>DT2306</Type>
                <BitSize>96</BitSize>
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                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
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                <Index>#x2307</Index>
                <Name>OP SelfAdjust Gain Set</Name>
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                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2308</Index>
                <Name>OP SelfAdjust Current Set</Name>
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                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2500</Index>
                <Name>CL Run Peak Current Set</Name>
                <Type>DT2500</Type>
                <BitSize>48</BitSize>
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                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2501</Index>
                <Name>CL Lock Peak Current Set</Name>
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                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
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              <Object>
                <Index>#x2502</Index>
                <Name>CL Current SoftBoot Time</Name>
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                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
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                <Index>#x2503</Index>
                <Name>CL Current Loop Gain</Name>
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                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2504</Index>
                <Name>CL Velocity Loop Gain</Name>
                <Type>DT2504</Type>
                <BitSize>48</BitSize>
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                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
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              <Object>
                <Index>#x2505</Index>
                <Name>CL Position Loop Gain</Name>
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                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
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                <Index>#x2506</Index>
                <Name>CL Lock Current Gain</Name>
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                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
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                <Index>#x2507</Index>
                <Name>CL Velocity Filtering coefficient</Name>
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                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
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              <Object>
                <Index>#x2508</Index>
                <Name>CL Lock Accuracy Threshold</Name>
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                <BitSize>48</BitSize>
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                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
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              <Object>
                <Index>#x2509</Index>
                <Name>CL Position Over Alarm</Name>
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                <BitSize>64</BitSize>
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                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x250A</Index>
                <Name>CL Lock Current Dynamic Set</Name>
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                <BitSize>48</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x250B</Index>
                <Name>CL Stalled Home Set</Name>
                <Type>DT250B</Type>
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                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x250C</Index>
                <Name>CL Lock Velocity Loop Set</Name>
                <Type>DT250C</Type>
                <BitSize>48</BitSize>
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                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
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              <Object>
                <Index>#x250D</Index>
                <Name>CL LockB Algorithm Threshold</Name>
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                <BitSize>48</BitSize>
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                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
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                <Index>#x250E</Index>
                <Name>CL Current Control Divisor</Name>
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                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
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              </Object>
              <Object>
                <Index>#x250F</Index>
                <Name>CL Encoder Num</Name>
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                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
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              <Object>
                <Index>#x2510</Index>
                <Name>CL Arithmetic Select</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
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              <Object>
                <Index>#x2700</Index>
                <Name>FUN Physical Inputs Leve</Name>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
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              <Object>
                <Index>#x2701</Index>
                <Name>FUN Inputs Polarity</Name>
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                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
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              <Object>
                <Index>#x2702</Index>
                <Name>FUN Inputs Function</Name>
                <Type>DT2702</Type>
                <BitSize>64</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2703</Index>
                <Name>FUN Inputs Filter Time</Name>
                <Type>DT2703</Type>
                <BitSize>64</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2704</Index>
                <Name>FUN Outputs Polarity</Name>
                <Type>UINT</Type>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
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              <Object>
                <Index>#x2705</Index>
                <Name>FUN Outputs Function</Name>
                <Type>DT2705</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
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              <Object>
                <Index>#x2706</Index>
                <Name>FUN Fault Detect Configure</Name>
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                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
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              <Object>
                <Index>#x2707</Index>
                <Name>FUN Fault List</Name>
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                <BitSize>160</BitSize>
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                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
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              <Object>
                <Index>#x2708</Index>
                <Name>FUN Clear Fault Record</Name>
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                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
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                <Index>#x2709</Index>
                <Name>FUN Clean Alarm</Name>
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                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
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              </Object>
              <Object>
                <Index>#x270A</Index>
                <Name>FUN Phase Memory</Name>
                <Type>DT270A</Type>
                <BitSize>48</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x270B</Index>
                <Name>FUN Break Ctrl Duty</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x270C</Index>
                <Name>FUN External DIP</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x603F</Index>
                <Name>Last Error Code</Name>
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                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x6040</Index>
                <Name>Control word</Name>
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                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
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              <Object>
                <Index>#x6041</Index>
                <Name>Status word</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x605A</Index>
                <Name>Quick Stop</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
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                <Index>#x6060</Index>
                <Name>Operation Mode</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
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              <Object>
                <Index>#x6061</Index>
                <Name>Modes of Operation Display</Name>
                <Type>SINT</Type>
                <BitSize>8</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x6062</Index>
                <Name>Commanded Position</Name>
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                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6064</Index>
                <Name>Position actual value</Name>
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                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606B</Index>
                <Name>Commanded Velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x606C</Index>
                <Name>Actual Velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607A</Index>
                <Name>Target Position</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607C</Index>
                <Name>Home offset</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x607D</Index>
                <Name>Software position limit</Name>
                <Type>DT607D</Type>
                <BitSize>80</BitSize>
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                  <SubItem>
                    <Name>SubIndex 000</Name>
                    <Info>
                      <DefaultValue>#x02</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <MinValue>#x80000000</MinValue>
                      <MaxValue>#x7FFFFFFF</MaxValue>
                      <DefaultValue>#x80000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <MinValue>#x80000000</MinValue>
                      <MaxValue>#x7FFFFFFF</MaxValue>
                      <DefaultValue>#x7FFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6082</Index>
                <Name>Start velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6085</Index>
                <Name>Quick Stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6098</Index>
                <Name>Homing Method</Name>
                <Type>SINT</Type>
                <BitSize>08</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B8</Index>
                <Name>Touch probe control</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe pos1 pos value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe pos1 neg value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BC</Index>
                <Name>Touch probe pos2 pos value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BD</Index>
                <Name>Touch probe pos2 neg value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D5</Index>
                <Name>Touch Probe 1 Positive Counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D6</Index>
                <Name>Touch Probe 1 Negative Counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D7</Index>
                <Name>Touch Probe 2 Positive Counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60D8</Index>
                <Name>Touch Probe 2 Negative Counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>80</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x60FF</Index>
                <Name>Target Velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Support Mode</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
            </Objects>
          </Dictionary>
        </Profile>
        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="34" MaxSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="34" MaxSize="128" DefaultSize="128" StartAddress="#x1200" ControlByte="#x22" Enable="1">MBoxIn</Sm>
        <Sm StartAddress="#x1400" ControlByte="#x64" Enable="1">Outputs</Sm>
        <Sm StartAddress="#x1800" ControlByte="#x20" Enable="1">Inputs</Sm>
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          <Name>CSP RxPDO1</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
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            <Name>Control word</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Position</Name>
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          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Operation Mode</Name>
            <DataType>SINT</DataType>
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        </RxPdo>
        <RxPdo Fixed="0">
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          <Name>PP RxPDO2</Name>
          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Control word</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x607A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Position</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6081</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile velocity</Name>
            <DataType>UDINT</DataType>
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          <Entry>
            <Index>#x6082</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Start velocity</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6083</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile acceleration</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6084</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Profile deceleration</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Operation Mode</Name>
            <DataType>SINT</DataType>
          </Entry>
        </RxPdo>
        <RxPdo Fixed="0">
          <Index>#x1602</Index>
          <Name>PV RxPDO2</Name>
          <Exclude>#x1603</Exclude>
          <Exclude>#x1601</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Control word</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FF</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Target Velocity</Name>
            <DataType>DINT</DataType>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C12</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sync Manager 2, PDO Mapping 0</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Sync Manager 2, PDO Mapping 1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Sync Manager 2, PDO Mapping 2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Sync Manager 2, PDO Mapping 3</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C13</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Sync Manager 3, PDO Mapping 0</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Sync Manager 3, PDO Mapping 1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C32</Name>
                <BitSize>488</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization Type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization Types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum Cycle Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and Copy Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Get Cycle Time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Sync0 Cycle Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-Event Missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle Time Too Small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>Shift Time Too Short Counter</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync Error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT1C33</Name>
                <BitSize>488</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>m</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Synchronization Type</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access WriteRestrictions="PreOP">rw</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Cycle Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Synchronization Types supported</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Minimum Cycle Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Calc and Copy Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Get Cycle Time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>208</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Delay Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>224</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>10</SubIdx>
                  <Name>Sync0 Cycle Time</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>256</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>11</SubIdx>
                  <Name>SM-Event Missed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>288</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>12</SubIdx>
                  <Name>Cycle Time Too Small</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>304</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>13</SubIdx>
                  <Name>Shift Time Too Short Counter</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>320</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>32</SubIdx>
                  <Name>Sync Error</Name>
                  <Type>BOOL</Type>
                  <BitSize>1</BitSize>
                  <BitOffs>480</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <Category>c</Category>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2002</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Firmware Date H</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Firmware Date L</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Soft Version</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2003</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min Synchronizing Cycle</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max Synchronizing Cycle</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Cur Synchronizing Cycle</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2005</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Real Current Runing</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Real Current A</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Real Current B</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2301</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Standby Time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Standby Current Percentage</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2302</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>time of duration</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>duration selection</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2303</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>enable</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Kp</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Ki</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2304</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Lock enable</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Lock Kp</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Lock Ki</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2306</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Middle Frequency enable</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Middle Frequency Coefficient</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Begin Speed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>End Speed</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Motor winding resistance</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2307</Name>
                <BitSize>96</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SelfAdjust Gain enable</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SelfAdjust Gain Coefficient</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SelfAdjust Gain V1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>SelfAdjust Gain V2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>SelfAdjust Gain Set Limit</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2308</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>SelfAdjust Current enable</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>SelfAdjust Current V1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>SelfAdjust Current V2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>SelfAdjust Current Set Limit</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2500</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>CL Run Peak Min Current Set</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>CL Run Peak Max Current Set</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2501</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>CL Lock Min Peak Current Set</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>CL Lock Max Peak Current Set</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2502</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>CL Current SoftBoot Time1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>CL Current SoftBoot Time2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2503</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>CL Current Loop Gain Kp</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>CL Current Loop Gain Ki</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2504</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>CL Velocity Loop Gain Kp</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>CL Velocity Loop Gain Qk</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2505</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>CL Position Loop Gain Kp</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>CL Position Loop Gain Ki</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2506</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>CL Lock Current Gain Kp</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>CL Lock Current Gain Ki</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2507</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>CL Velocity Ref Filtering Coefficient F1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>CL Velocity Ref Filtering Coefficient F2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>CL Velocity Fdb Filtering Coefficient F1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>CL Velocity Fdb Filtering Coefficient F2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2508</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>CL Lock Accuracy Threshold1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>CL Lock Accuracy Threshold2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2509</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>CL Position Over Alarm Enable</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>CL Position Over Alarm Value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>CL Position Over Alarm Time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT250A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>CL Lock Current Dynamic Set Value1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>CL Lock Current Dynamic Set Value2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT250B</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>CL Stalled Home Set RetainTim</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>CL Stalled Home Set Current</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>CL Stalled Home Set Limit Value</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT250C</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>CL Lock Velocity Loop Set Enable</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>CL Lock Velocity Loop Set Limit</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT250D</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>CL LockB Algorithm Threshold 1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>CL LockB Algorithm Threshold 2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2702</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Inputs Function</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Inputs Function0</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Inputs Function1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Inputs Function2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2703</Name>
                <BitSize>64</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Inputs Filter Time</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Inputs Filter Time0</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Inputs Filter Time1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Inputs Filter Time2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2705</Name>
                <BitSize>32</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Outputs Function</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Outputs Function0</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT2707</Name>
                <BitSize>160</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
                  <BitSize>8</BitSize>
                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Fault List0</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Fault List1</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>3</SubIdx>
                  <Name>Fault List2</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>4</SubIdx>
                  <Name>Fault List3</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>64</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>5</SubIdx>
                  <Name>Fault List4</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>80</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>6</SubIdx>
                  <Name>Fault List5</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>96</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>7</SubIdx>
                  <Name>Fault List6</Name>
                  <Type>UINT</Type>
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                  <BitOffs>112</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>8</SubIdx>
                  <Name>Fault List7</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>128</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>9</SubIdx>
                  <Name>Fault List8</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>144</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                    <PdoMapping>TR</PdoMapping>
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                </SubItem>
              </DataType>
              <DataType>
                <Name>DT270A</Name>
                <BitSize>48</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>Number of Entries</Name>
                  <Type>USINT</Type>
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                  <BitOffs>0</BitOffs>
                  <Flags>
                    <Access>ro</Access>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>FUN Phase Memory Enable</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>FUN Phase Memory Time</Name>
                  <Type>UINT</Type>
                  <BitSize>16</BitSize>
                  <BitOffs>32</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT607D</Name>
                <BitSize>80</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>
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                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Min position limit</Name>
                  <Type>UDINT</Type>
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                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Max position limit</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT6099</Name>
                <BitSize>80</BitSize>
                <SubItem>
                  <SubIdx>0</SubIdx>
                  <Name>SubIndex 000</Name>
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                  <BitOffs>0</BitOffs>
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                    <Access>ro</Access>
                    <Category>o</Category>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>1</SubIdx>
                  <Name>Speed during search for switch</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Speed during search for zero</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
              <DataType>
                <Name>DT60FE</Name>
                <BitSize>80</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>Physical Outputs</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>16</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
                <SubItem>
                  <SubIdx>2</SubIdx>
                  <Name>Bit Mask</Name>
                  <Type>UDINT</Type>
                  <BitSize>32</BitSize>
                  <BitOffs>48</BitOffs>
                  <Flags>
                    <Access>rw</Access>
                    <PdoMapping>TR</PdoMapping>
                  </Flags>
                </SubItem>
              </DataType>
            </DataTypes>
            <Objects>
              <Object>
                <Index>#x1000</Index>
                <Name>Device type</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Info>
                  <DefaultData>91010204</DefaultData>
                </Info>
                <Flags>
                  <Access>ro</Access>
                  <Category>m</Category>
                </Flags>
              </Object>
              <Object>
                <Index>#x1001</Index>
                <Name>Error register</Name>
                <Type>USINT</Type>
                <BitSize>8</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x1008</Index>
                <Name>Device name</Name>
                <Type>STRING(8)</Type>
                <BitSize>64</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <Category>o</Category>
                </Flags>
              </Object>
              <Object>
                <Index>#x1009</Index>
                <Name>Hardware version</Name>
                <Type>STRING(3)</Type>
                <BitSize>24</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <Category>o</Category>
                </Flags>
              </Object>
              <Object>
                <Index>#x100A</Index>
                <Name>Software version</Name>
                <Type>STRING(13)</Type>
                <BitSize>104</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <Category>o</Category>
                </Flags>
              </Object>
              <Object>
                <Index>#x1010</Index>
                <Name>Save Parameter</Name>
                <Type>DT1010</Type>
                <BitSize>144</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1011</Index>
                <Name>Recover Parameter</Name>
                <Type>DT1011</Type>
                <BitSize>144</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1018</Index>
                <Name>Identity</Name>
                <Type>DT1018</Type>
                <BitSize>144</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x10F1</Index>
                <Name>Error Settings</Name>
                <Type>DT10F1</Type>
                <BitSize>64</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1600</Index>
                <Name>CSP RxPDO1</Name>
                <Type>DT160x</Type>
                <BitSize>400</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1601</Index>
                <Name>PP RxPDO2</Name>
                <Type>DT160x</Type>
                <BitSize>400</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1602</Index>
                <Name>PV RxPDO3</Name>
                <Type>DT160x</Type>
                <BitSize>400</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1603</Index>
                <Name>HM RxPDO4</Name>
                <Type>DT160x</Type>
                <BitSize>400</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A00</Index>
                <Name>CSP TxPDO1</Name>
                <Type>DT1A0x</Type>
                <BitSize>400</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1A01</Index>
                <Name>Touch TxPDO2</Name>
                <Type>DT1A0x</Type>
                <BitSize>400</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C00</Index>
                <Name>Sync manager type</Name>
                <Type>DT1C00</Type>
                <BitSize>48</BitSize>
                <Info>
                  <SubItem>
                    <Name>SubIndex 000</Name>
                    <Info>
                      <DefaultData>04</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SubIndex 001</Name>
                    <Info>
                      <DefaultData>01</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SubIndex 002</Name>
                    <Info>
                      <DefaultData>02</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SubIndex 003</Name>
                    <Info>
                      <DefaultData>03</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SubIndex 004</Name>
                    <Info>
                      <DefaultData>04</DefaultData>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C12</Index>
                <Name>SyncManager 2 assignment</Name>
                <Type>DT1C12</Type>
                <BitSize>80</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C13</Index>
                <Name>SyncManager 3 assignment</Name>
                <Type>DT1C13</Type>
                <BitSize>48</BitSize>
                <Flags>
                  <Access>rw</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x1C32</Index>
                <Name>SM output parameter</Name>
                <Type>DT1C32</Type>
                <BitSize>488</BitSize>
                <Info>
                  <SubItem>
                    <Name>SubIndex 000</Name>
                    <Info>
                      <DefaultData>20</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization Type</Name>
                    <Info>
                      <DefaultData>0100</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization Types supported</Name>
                    <Info>
                      <DefaultData>0780</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Minimum Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Calc and Copy Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Get Cycle Time</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Delay Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sync0 Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SM-Event Missed</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Cycle Time Too Small</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sync Error</Name>
                    <Info>
                      <DefaultData>00</DefaultData>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x1C33</Index>
                <Name>SM input parameter</Name>
                <Type>DT1C33</Type>
                <BitSize>488</BitSize>
                <Info>
                  <SubItem>
                    <Name>SubIndex 000</Name>
                    <Info>
                      <DefaultData>20</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization Type</Name>
                    <Info>
                      <DefaultData>2200</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Synchronization Types supported</Name>
                    <Info>
                      <DefaultData>0780</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Minimum Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Calc and Copy Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Get Cycle Time</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Delay Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sync0 Cycle Time</Name>
                    <Info>
                      <DefaultData>00000000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>SM-Event Missed</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Cycle Time Too Small</Name>
                    <Info>
                      <DefaultData>0000</DefaultData>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Sync Error</Name>
                    <Info>
                      <DefaultData>00</DefaultData>
                    </Info>
                  </SubItem>
                </Info>
              </Object>
              <Object>
                <Index>#x2000</Index>
                <Name>MSG Slave Alias</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2001</Index>
                <Name>MSG Slave Alias Source</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2002</Index>
                <Name>MSG Drive Soft Version</Name>
                <Type>DT2002</Type>
                <BitSize>64</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2003</Index>
                <Name>MSG Synchronizing Cycle</Name>
                <Type>DT2003</Type>
                <BitSize>64</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2004</Index>
                <Name>MSG Bus Voltage</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2005</Index>
                <Name>MSG Real Current</Name>
                <Type>DT2005</Type>
                <BitSize>64</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2100</Index>
                <Name>OC Control_Mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2101</Index>
                <Name>OC Motor Direction</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2102</Index>
                <Name>OC Motor Resolution</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2103</Index>
                <Name>OC Motor type selection</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2104</Index>
                <Name>OC OverRun Stop Mode</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2300</Index>
                <Name>OP Peak Current</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2301</Index>
                <Name>OP Standby Time</Name>
                <Type>DT2301</Type>
                <BitSize>48</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2302</Index>
                <Name>OP PowerOn lock shaft time setting</Name>
                <Type>DT2302</Type>
                <BitSize>48</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2303</Index>
                <Name>OP current loop gain</Name>
                <Type>DT2303</Type>
                <BitSize>64</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2304</Index>
                <Name>OP Lock gain</Name>
                <Type>DT2304</Type>
                <BitSize>64</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2305</Index>
                <Name>OP algorithm selection</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2306</Index>
                <Name>OP Middle Frequency</Name>
                <Type>DT2306</Type>
                <BitSize>96</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2307</Index>
                <Name>OP SelfAdjust Gain Set</Name>
                <Type>DT2307</Type>
                <BitSize>96</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2308</Index>
                <Name>OP SelfAdjust Current Set</Name>
                <Type>DT2308</Type>
                <BitSize>80</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2500</Index>
                <Name>CL Run Peak Current Set</Name>
                <Type>DT2500</Type>
                <BitSize>48</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2501</Index>
                <Name>CL Lock Peak Current Set</Name>
                <Type>DT2501</Type>
                <BitSize>48</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2502</Index>
                <Name>CL Current SoftBoot Time</Name>
                <Type>DT2502</Type>
                <BitSize>48</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2503</Index>
                <Name>CL Current Loop Gain</Name>
                <Type>DT2503</Type>
                <BitSize>48</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2504</Index>
                <Name>CL Velocity Loop Gain</Name>
                <Type>DT2504</Type>
                <BitSize>48</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2505</Index>
                <Name>CL Position Loop Gain</Name>
                <Type>DT2505</Type>
                <BitSize>48</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2506</Index>
                <Name>CL Lock Current Gain</Name>
                <Type>DT2506</Type>
                <BitSize>48</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2507</Index>
                <Name>CL Velocity Filtering coefficient</Name>
                <Type>DT2507</Type>
                <BitSize>80</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2508</Index>
                <Name>CL Lock Accuracy Threshold</Name>
                <Type>DT2508</Type>
                <BitSize>48</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x2509</Index>
                <Name>CL Position Over Alarm</Name>
                <Type>DT2509</Type>
                <BitSize>64</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x250A</Index>
                <Name>CL Lock Current Dynamic Set</Name>
                <Type>DT250A</Type>
                <BitSize>48</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x250B</Index>
                <Name>CL Stalled Home Set</Name>
                <Type>DT250B</Type>
                <BitSize>64</BitSize>
                <Flags>
                  <Access>rw</Access>
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                <Index>#x250D</Index>
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                  <PdoMapping>TR</PdoMapping>
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                <Index>#x2510</Index>
                <Name>CL Arithmetic Select</Name>
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                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
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                <Index>#x2700</Index>
                <Name>FUN Physical Inputs Leve</Name>
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                  <Access>ro</Access>
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                <Index>#x2701</Index>
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                  <PdoMapping>TR</PdoMapping>
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                <Index>#x2702</Index>
                <Name>FUN Inputs Function</Name>
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                  <PdoMapping>TR</PdoMapping>
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                <Index>#x2703</Index>
                <Name>FUN Inputs Filter Time</Name>
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                  <PdoMapping>TR</PdoMapping>
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                <Index>#x2704</Index>
                <Name>FUN Outputs Polarity</Name>
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                  <PdoMapping>TR</PdoMapping>
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                <Index>#x2705</Index>
                <Name>FUN Outputs Function</Name>
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                  <PdoMapping>TR</PdoMapping>
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                <Index>#x2706</Index>
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                  <PdoMapping>TR</PdoMapping>
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                <Index>#x2707</Index>
                <Name>FUN Fault List</Name>
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                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
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                <Index>#x2708</Index>
                <Name>FUN Clear Fault Record</Name>
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                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
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                <Index>#x2709</Index>
                <Name>FUN Clean Alarm</Name>
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                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
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                <Index>#x270A</Index>
                <Name>FUN Phase Memory</Name>
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                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
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                <Index>#x270B</Index>
                <Name>FUN Break Ctrl Duty</Name>
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                  <Access>ro</Access>
                  <PdoMapping>TR</PdoMapping>
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                <Index>#x270C</Index>
                <Name>FUN External DIP</Name>
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                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
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                <Index>#x603F</Index>
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                  <PdoMapping>T</PdoMapping>
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                <Index>#x6040</Index>
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                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
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                <Index>#x6041</Index>
                <Name>Status word</Name>
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                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Index>#x605A</Index>
                <Name>Quick Stop</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
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                <Index>#x6060</Index>
                <Name>Operation Mode</Name>
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                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
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                <Index>#x6061</Index>
                <Name>Modes of Operation Display</Name>
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                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Index>#x6062</Index>
                <Name>Commanded Position</Name>
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                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Index>#x6064</Index>
                <Name>Position actual value</Name>
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                  <PdoMapping>T</PdoMapping>
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                <Index>#x606B</Index>
                <Name>Commanded Velocity</Name>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Index>#x606C</Index>
                <Name>Actual Velocity</Name>
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                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Index>#x607A</Index>
                <Name>Target Position</Name>
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                  <PdoMapping>TR</PdoMapping>
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                <Index>#x607C</Index>
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                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
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                <Index>#x607D</Index>
                <Name>Software position limit</Name>
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                <BitSize>80</BitSize>
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                  <SubItem>
                    <Name>SubIndex 000</Name>
                    <Info>
                      <DefaultValue>#x02</DefaultValue>
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                  </SubItem>
                  <SubItem>
                    <Name>Min position limit</Name>
                    <Info>
                      <MinValue>#x80000000</MinValue>
                      <MaxValue>#x7FFFFFFF</MaxValue>
                      <DefaultValue>#x80000000</DefaultValue>
                    </Info>
                  </SubItem>
                  <SubItem>
                    <Name>Max position limit</Name>
                    <Info>
                      <MinValue>#x80000000</MinValue>
                      <MaxValue>#x7FFFFFFF</MaxValue>
                      <DefaultValue>#x7FFFFFFF</DefaultValue>
                    </Info>
                  </SubItem>
                </Info>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
              <Object>
                <Index>#x6080</Index>
                <Name>Max motor speed</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
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                <Index>#x6081</Index>
                <Name>Profile velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
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              <Object>
                <Index>#x6082</Index>
                <Name>Start velocity</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
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                <Index>#x6083</Index>
                <Name>Profile acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
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                <Index>#x6084</Index>
                <Name>Profile deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
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              </Object>
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                <Index>#x6085</Index>
                <Name>Quick Stop deceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
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              </Object>
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                <Index>#x6098</Index>
                <Name>Homing Method</Name>
                <Type>SINT</Type>
                <BitSize>08</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x6099</Index>
                <Name>Homing speeds</Name>
                <Type>DT6099</Type>
                <BitSize>80</BitSize>
                <Flags>
                  <Access>ro</Access>
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                <Index>#x609A</Index>
                <Name>Homing acceleration</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
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              </Object>
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                <Index>#x60B8</Index>
                <Name>Touch probe control</Name>
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                <BitSize>16</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60B9</Index>
                <Name>Touch probe status</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BA</Index>
                <Name>Touch probe pos1 pos value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
                </Flags>
              </Object>
              <Object>
                <Index>#x60BB</Index>
                <Name>Touch probe pos1 neg value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
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                <Index>#x60BC</Index>
                <Name>Touch probe pos2 pos value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
              <Object>
                <Index>#x60BD</Index>
                <Name>Touch probe pos2 neg value</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              </Object>
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                <Index>#x60D5</Index>
                <Name>Touch Probe 1 Positive Counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Index>#x60D6</Index>
                <Name>Touch Probe 1 Negative Counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Index>#x60D7</Index>
                <Name>Touch Probe 2 Positive Counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Index>#x60D8</Index>
                <Name>Touch Probe 2 Negative Counter</Name>
                <Type>UINT</Type>
                <BitSize>16</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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                <Index>#x60FD</Index>
                <Name>Digital inputs</Name>
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                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                  <PdoMapping>T</PdoMapping>
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              <Object>
                <Index>#x60FE</Index>
                <Name>Digital outputs</Name>
                <Type>DT60FE</Type>
                <BitSize>80</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
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              <Object>
                <Index>#x60FF</Index>
                <Name>Target Velocity</Name>
                <Type>DINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>rw</Access>
                  <PdoMapping>TR</PdoMapping>
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              </Object>
              <Object>
                <Index>#x6502</Index>
                <Name>Support Mode</Name>
                <Type>UDINT</Type>
                <BitSize>32</BitSize>
                <Flags>
                  <Access>ro</Access>
                </Flags>
              </Object>
            </Objects>
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        <Fmmu>Outputs</Fmmu>
        <Fmmu>Inputs</Fmmu>
        <Fmmu>MBoxState</Fmmu>
        <Sm MinSize="34" MaxSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
        <Sm MinSize="34" MaxSize="128" DefaultSize="128" StartAddress="#x1200" ControlByte="#x22" Enable="1">MBoxIn</Sm>
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        <Sm StartAddress="#x1800" ControlByte="#x20" Enable="1">Inputs</Sm>
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          <Exclude>#x1602</Exclude>
          <Exclude>#x1603</Exclude>
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          <Entry>
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          <Entry>
            <Index>#x607A</Index>
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          <Entry>
            <Index>#x6082</Index>
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            <Index>#x6083</Index>
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          <Entry>
            <Index>#x6084</Index>
            <SubIndex>0</SubIndex>
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            <Index>#x6060</Index>
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            <Name>Operation Mode</Name>
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          <Exclude>#x1601</Exclude>
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            <SubIndex>0</SubIndex>
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            <Name>Control word</Name>
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          <Entry>
            <Index>#x60FF</Index>
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          <Entry>
            <Index>#x6082</Index>
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            <BitLen>32</BitLen>
            <Name>Start velocity</Name>
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            <Index>#x6083</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
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            <Index>#x6084</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
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          <Entry>
            <Index>#x6060</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Operation Mode</Name>
            <DataType>SINT</DataType>
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        <RxPdo Fixed="0">
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          <Name>HM IO RxPDO4</Name>
          <Exclude>#x1601</Exclude>
          <Exclude>#x1602</Exclude>
          <Entry>
            <Index>#x6040</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Control word</Name>
            <DataType>UINT</DataType>
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          <Entry>
            <Index>#x607C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Home offset</Name>
            <DataType>DINT</DataType>
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          <Entry>
            <Index>#x6099</Index>
            <SubIndex>1</SubIndex>
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          <Entry>
            <Index>#x6099</Index>
            <SubIndex>2</SubIndex>
            <BitLen>32</BitLen>
            <Name>Homing Mix speeds</Name>
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          <Entry>
            <Index>#x609A</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
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            <Index>#x6060</Index>
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          <Entry>
            <Index>#x6098</Index>
            <SubIndex>0</SubIndex>
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            <Name>Homing Method</Name>
            <DataType>SINT</DataType>
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          <Index>#x1a00</Index>
          <Name>CSP TxPDO1</Name>
          <Entry>
            <Index>#x603f</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Last Error Code</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6041</Index>
            <SubIndex>0</SubIndex>
            <BitLen>16</BitLen>
            <Name>Status Word</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6064</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Position actual value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x606C</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Actual Velocity</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60FD</Index>
            <SubIndex>0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Digital inputs</Name>
            <DataType>UDINT</DataType>
          </Entry>
          <Entry>
            <Index>#x6061</Index>
            <SubIndex>0</SubIndex>
            <BitLen>8</BitLen>
            <Name>Modes of Operation Display</Name>
            <DataType>SINT</DataType>
          </Entry>
        </TxPdo>
        <TxPdo Fixed="0">
          <Index>#x1a01</Index>
          <Name>Touch TxPDO1</Name>
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            <Index>#x60B9</Index>
            <SubIndex>#x00</SubIndex>
            <BitLen>16</BitLen>
            <Name>Touch probe status</Name>
            <DataType>UINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60BA</Index>
            <SubIndex>#x00</SubIndex>
            <BitLen>32</BitLen>
            <Name>Touch probe pos1 pos value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60BB</Index>
            <SubIndex>#x0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Touch probe pos1 neg value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60BC</Index>
            <SubIndex>#x0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Touch probe pos2 pos value</Name>
            <DataType>DINT</DataType>
          </Entry>
          <Entry>
            <Index>#x60BD</Index>
            <SubIndex>#x0</SubIndex>
            <BitLen>32</BitLen>
            <Name>Touch probe pos2 neg value</Name>
            <DataType>DINT</DataType>
          </Entry>
        </TxPdo>
        <Mailbox DataLinkLayer="true">
          <CoE SdoInfo="0" PdoUpload="0" PdoAssign="1" PdoConfig="1" SegmentedSdo="0" CompleteAccess="0" DiagHistory="0">
            <InitCmd>
              <Transition>PS</Transition>
              <Index>#x6060</Index>
              <SubIndex>0</SubIndex>
              <Data>08</Data>
              <Comment>Modes of Operation Display</Comment>
            </InitCmd>
          </CoE>
          <FoE />
        </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>Free Run</Name>
            <Desc>Free Run</Desc>
            <AssignActivate>#x0</AssignActivate>
          </OpMode>
        </Dc>
        <Eeprom>
          <ByteSize>2048</ByteSize>
          <ConfigData>003c0000ff0100000000</ConfigData>
          <BootStrap>0010000100120001</BootStrap>
        </Eeprom>
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      </Device>
    </Devices>
  </Descriptions>
</EtherCATInfo>