<?xml version="1.0"?>
<EtherCATInfo xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd" Version="1.6">
  <Vendor>
    <Id>#x9</Id>
    <Name>Asage-Robots</Name>
  </Vendor>
  <Descriptions>
    <Groups>
      <Group SortOrder="0">
        <Type>Asage-Robots</Type>
        <Name LcId="1031">Asage-Robots</Name>
        <Name LcId="1033">Asage-Robots</Name>
        <ImageData16x14>424DD8020000000000003600000028000000100000000E0000000100180000000000A2020000120B0000120B000000000000000000001306E31306E3190CE42B1FE62B1FE61306E31F13E5190CE42519E51306E31306E3190CE42F24E7190CE41306E31306E31306E31306E35F56EC645CED645CED4137E91F13E5473DE95F57EC3227E71306E3473DE95A51EC271BE61306E31306E31409CA524CC68E8AD74F48C1615CC82218D03E36BF716BCE746FCE453DC01307CE3931BA7D78D27671D1150CB21409CA1712801B1D1D1B1D1D1B1D1D1B1D1D120B891B1D1D1B1D1D1B1D1D1B1D1D120B891B1D1D1B1D1D1B1D1D1B1D1D1712801712807F8080D4D5D5D4D5D5383939120B89545656D4D5D5D4D5D5626464130C89292B2BD4D5D5D4D5D56264641915801712804647471B1D1DAAAAAAD4D5D5130E82383939292B2B717272D4D5D5151183D4D5D57F80801B1D1D7172721E1C81191580464747D4D5D5D4D5D51B1D1D19158A292B2BD4D5D5D4D5D5292B2B1B1B8AD4D5D56264641B1D1D1B1D1D2427821E1D81D4D5D54647476264643839391E208BD4D5D57F8080464747545656242A8BD4D5D59B9C9C292B2BAAAAAA2D3683252882464747D4D5D5D4D5D51B1D1D272D85292B2BD4D5D5D4D5D5292B2B2E37861B1D1DD4D5D5D4D5D5464747394484323BB52324812122822426822526824554C0323883292B822A2D83353C84424CBF3238843940842E32834853865D6EBB5262EB3E43E83334E74147E94349E9535FEB4D56EA5662EB484DEA545DEB636FED545AEA5A63EC6671ED8CA0F290A5F2748AEF6B7BEE5D68EC6874ED788AEF8397F17684EF7986EF8C9FF2818FF1818EF08E9DF18A97F18791F19BA9F3B0C0F691A4F291A2F28390F192A1F29CACF3A3B3F498A6F3A4B3F4AEBDF5B0BEF59EA8F3A3ADF4BBC7F7C4D1F8CAD7F8CED9F9B4C4F6B8C8F6ACB8F59AA3F3B6C1F6C5D2F8C2CDF8CCD7F9D2DDF9D5E0FAD2DAF9D5DCF9DFE7FBE2E9FBE5EBFBE8EEFB0000</ImageData16x14>
      </Group>
    </Groups>
    <Devices>
      <Device Physics="YY">
        <Type ProductCode="#x20180829" RevisionNo="#x1">Asage-Robots</Type>
        <Name LcId="1033">Asage-Robots</Name>
        <Name LcId="1031">Asage-Robots</Name>
              <Info>
					<StateMachine>
						<Timeout>
							<PreopTimeout>2000</PreopTimeout>
							<SafeopOpTimeout>9000</SafeopOpTimeout>
							<BackToInitTimeout>5000</BackToInitTimeout>
							<BackToSafeopTimeout>200</BackToSafeopTimeout>
						</Timeout>
					</StateMachine>
					<Mailbox>
						<Timeout>
							<RequestTimeout>100</RequestTimeout>
							<ResponseTimeout>2000</ResponseTimeout>
						</Timeout>
					</Mailbox>
				</Info>
				<GroupType>Asage-Joint</GroupType>
				<Profile>
					<ChannelInfo>
						<ProfileNo>402</ProfileNo>
					</ChannelInfo>
					<Dictionary>
						<DataTypes>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>BIT2</Name>
								<BitSize>2</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>BOOL</Name>
								<BitSize>1</BitSize>
							</DataType>
							<DataType> 
								<!--Std type (see ETG.1020)-->
								<Name>DINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>INT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>SINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>UDINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>UINT</Name>
								<BitSize>16</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>USINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<!--Std type (see ETG.1020)-->
								<Name>ARRAY [0..3] OF BYTE</Name>
								<BaseType>USINT</BaseType>
								<BitSize>32</BitSize>
								<ArrayInfo>
									<LBound>0</LBound>
									<Elements>4</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<!--Device Name (0x1008) type-->
								<Name>STRING(34)</Name>
								<BitSize>272</BitSize>
							</DataType>
							<DataType>
								<!--Hardware version string (0x1009)-->
								<Name>STRING(4)</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<!--Ident object (0x1018) type-->
								<Name>DT1018</Name>
								<BitSize>144</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Vendor ID</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Product code</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Revision</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Serial number</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>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>
								<!--Error Setting object (0x10F1) type-->
								<Name>DT10F1</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>Local Error Reaction</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Error Counter Limit</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<!--Datatype for SM2(Output) Synchronisation  Parameter-->
								<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>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>
								<!--Datatype for SM3(Input) Synchronisation  Parameter-->
								<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>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>DT1600</Name>
								<BitSize>176</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>SubIndex 001</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>SubIndex 002</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>SubIndex 003</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>SubIndex 004</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>SubIndex 005</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1601</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>SubIndex 001</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>SubIndex 002</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1602</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>SubIndex 001</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>SubIndex 002</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A00</Name>
								<BitSize>208</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>SubIndex 001</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>SubIndex 002</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>SubIndex 003</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>SubIndex 004</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>SubIndex 005</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>SubIndex 006</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A01</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>SubIndex 001</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>SubIndex 002</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A02</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>SubIndex 001</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>SubIndex 002</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C12ARR</Name>
								<BaseType>UINT</BaseType>
								<BitSize>32</BitSize>
								<ArrayInfo>
									<LBound>1</LBound>
									<Elements>2</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>DT1C12</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOp">rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<Name>Elements</Name>
									<Type>DT1C12ARR</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOp">rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C13ARR</Name>
								<BaseType>UINT</BaseType>
								<BitSize>32</BitSize>
								<ArrayInfo>
									<LBound>1</LBound>
									<Elements>2</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>DT1C13</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOp">rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<Name>Elements</Name>
									<Type>DT1C13ARR</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access WriteRestrictions="PreOp">rw</Access>
										<Category>o</Category>
									</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>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Max position limit</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT60C2</Name>
								<BitSize>32</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>Interpolation period</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Interpolation Index</Name>
									<Type>SINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>24</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT60FF</Name>
								<BitSize>32</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Target Velocity</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
										<PdoMapping>R</PdoMapping>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6502</Name>
								<BitSize>32</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>Supported Drive Modes</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DTF000</Name>
								<BitSize>48</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Module index distance</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Maximum number of modules</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DTF010ARR</Name>
								<BaseType>UDINT</BaseType>
								<BitSize>64</BitSize>
								<ArrayInfo>
									<LBound>1</LBound>
									<Elements>2</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>DTF010</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>
									<Name>Elements</Name>
									<Type>DTF010ARR</Type>
									<BitSize>64</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<!--Module Profile Information-->
							</DataType>
							<DataType>
								<Name>DTF030ARR</Name>
								<BaseType>UDINT</BaseType>
								<BitSize>64</BitSize>
								<ArrayInfo>
									<LBound>1</LBound>
									<Elements>2</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>DTF030</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>
									<Name>Elements</Name>
									<Type>DTF030ARR</Type>
									<BitSize>64</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<!--Module Profile Information-->
							</DataType>
							<DataType>
								<Name>DTF050ARR</Name>
								<BaseType>UDINT</BaseType>
								<BitSize>64</BitSize>
								<ArrayInfo>
									<LBound>1</LBound>
									<Elements>2</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>DTF050</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>
									<Name>Elements</Name>
									<Type>DTF050ARR</Type>
									<BitSize>64</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<!--Module Ident list of the detected modules-->
							</DataType>
						</DataTypes>
						<Objects>
							<Object>
								<Index>#x1000</Index>
								<Name>Device type</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>00020192</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>
								<Info>
									<DefaultData>00</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1008</Index>
								<Name>Device name</Name>
								<Type>STRING(34)</Type>
								<BitSize>272</BitSize>
								<Info>
									<DefaultData>454C39383030207C203241786973204369413430322053616D706C655F5635693130</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1009</Index>
								<Name>Hardware version</Name>
								<Type>STRING(4)</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>6E2E612E</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x100a</Index>
								<Name>Software version</Name>
								<Type>STRING(4)</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>03523130</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</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>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1018</Index>
								<Name>Identity</Name>
								<Type>DT1018</Type>
								<BitSize>144</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>04</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Vendor ID</Name>
										<Info>
											<DefaultData>020000E0</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Product code</Name>
										<Info>
											<DefaultData>52304826</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Revision</Name>
										<Info>
											<DefaultData>11020100</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Serial number</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x10F1</Index>
								<Name>Error Settings</Name>
								<Type>DT10F1</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>04</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Local Error Reaction</Name>
										<Info>
											<DefaultData>01</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Sync Error Counter Limit</Name>
										<Info>
											<DefaultData>04</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</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>1E40</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Minimum Cycle Time</Name>
										<Info>
											<DefaultData>50C30000</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>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</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>1E40</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Minimum Cycle Time</Name>
										<Info>
											<DefaultData>50C30000</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>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1c12</Index>
								<Name>RxPDO assign</Name>
								<Type>DT1C12</Type>
								<BitSize>48</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>01</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 001</Name>
										<Info>
											<DefaultData>0016</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 002</Name>
										<Info>
											<DefaultData>0000</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1c13</Index>
								<Name>TxPDO assign</Name>
								<Type>DT1C13</Type>
								<BitSize>48</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>01</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 001</Name>
										<Info>
											<DefaultData>001a</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 002</Name>
										<Info>
											<DefaultData>0000</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1600</Index>
								<Name>csp/csv RxPDO</Name>
								<Type>DT1600</Type>
								<BitSize>176</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>05</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 001</Name>
										<Info>
											<DefaultData>10004060</DefaultData>
										</Info>
									</SubItem>									
									<SubItem>
										<Name>SubIndex 002</Name>
										<Info>
											<DefaultData>20007A60</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 003</Name>
										<Info>
											<DefaultData>2000FF60</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 004</Name>
										<Info>
											<DefaultData>1000B260</DefaultData>
										</Info>
									</SubItem>									
									<SubItem>
										<Name>SubIndex 005</Name>
										<Info>
											<DefaultData>08006060</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1601</Index>
								<Name>csp RxPDO</Name>
								<Type>DT1601</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>02</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 001</Name>
										<Info>
											<DefaultData>10004060</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 002</Name>
										<Info>
											<DefaultData>20007A60</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1602</Index>
								<Name>csv RxPDO</Name>
								<Type>DT1602</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>02</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 001</Name>
										<Info>
											<DefaultData>10004060</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 002</Name>
										<Info>
											<DefaultData>2000FF60</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1a00</Index>
								<Name>csp/csv TxPDO</Name>
								<Type>DT1A00</Type>
								<BitSize>208</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>06</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 001</Name>
										<Info>
											<DefaultData>10004160</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 002</Name>
										<Info>
											<DefaultData>20006460</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 003</Name>
										<Info>
											<DefaultData>20006C60</DefaultData>
										</Info>
									</SubItem>	
									<SubItem>
										<Name>SubIndex 004</Name>
										<Info>
											<DefaultData>2000B620</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 005</Name>
										<Info>
											<DefaultData>2000B610</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 006</Name>
										<Info>
											<DefaultData>10007760</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 007</Name>
										<Info>
											<DefaultData>08006160</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1a01</Index>
								<Name>csp TxPDO</Name>
								<Type>DT1A01</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>02</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 001</Name>
										<Info>
											<DefaultData>10004160</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 002</Name>
										<Info>
											<DefaultData>20006460</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1a02</Index>
								<Name>csv TxPDO</Name>
								<Type>DT1A02</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>02</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 001</Name>
										<Info>
											<DefaultData>10004160</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 002</Name>
										<Info>
											<DefaultData>20006C60</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x603F</Index>
								<Name>Error Code</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<SubItem>
										<Name>Error Code</Name>
										<Info>
											<DefaultData>00</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x6040</Index>
								<Name>Control Word</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<SubItem>
										<Name>Control Word</Name>
										<Info>
											<DefaultData>00</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6041</Index>
								<Name>Status Word</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<SubItem>
										<Name>Status Word</Name>
										<Info>
											<DefaultData>00</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x605A</Index>
								<Name>Quickstop Option Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<SubItem>
										<Name>Quickstop Option Code</Name>
										<Info>
											<DefaultData>02</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x605B</Index>
								<Name>Shutdown Option Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<SubItem>
										<Name>Shutdown Option Code</Name>
										<Info>
											<DefaultData>00</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x605C</Index>
								<Name>Disable Operation Option Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<SubItem>
										<Name>Disable Operation Option Code</Name>
										<Info>
											<DefaultData>01</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x605E</Index>
								<Name>Fault Reaction Code</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<SubItem>
										<Name>Fault Reaction Code</Name>
										<Info>
											<DefaultData>02</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x6060</Index>
								<Name>Modes of Operation</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<SubItem>
										<Name>Modes of Operation</Name>
										<Info>
											<DefaultData>00</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6061</Index>
								<Name>Modes of Operation Display</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<SubItem>
										<Name>Modes of Operation Display</Name>
										<Info>
											<DefaultData>00</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6064</Index>
								<Name>Position Actual Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<SubItem>
										<Name>Position Actual Value</Name>
										<Info>
											<DefaultData>00</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x606C</Index>
								<Name>Velocity Actual Value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<SubItem>
										<Name>Velocity Actual Value</Name>
										<Info>
											<DefaultData>00</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
								<Object>
								<Index>#x6071</Index>
								<Name>Target Torque</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<SubItem>
										<Name>Target Torque</Name>
										<Info>
											<DefaultData>00</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6077</Index>
								<Name>Torque Actual Value</Name>
								<Type>INT</Type>
								<BitSize>16</BitSize>
								<Info>
									<SubItem>
										<Name>Torque Actual Value</Name>
										<Info>
											<DefaultData>00</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
									<PdoMapping>T</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x607A</Index>
								<Name>Target Position</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<SubItem>
										<Name>Target Position</Name>
										<Info>
											<DefaultData>00</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>R</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>
											<DefaultData>02</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Min position limit</Name>
										<Info>
											<DefaultData>006CCA88</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Max position limit</Name>
										<Info>
											<DefaultData>00943577</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x60B2</Index>
								<Name>Torque offset </Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<SubItem>
										<Name>Torque offset</Name>
										<Info>
											<DefaultData>00</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6085</Index>
								<Name>Quickstop Declaration</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<SubItem>
										<Name>Quickstop Declaration</Name>
										<Info>
											<DefaultData>00</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x60C2</Index>
								<Name>Interpolation Time Period</Name>
								<Type>DT60C2</Type>
								<BitSize>32</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>02</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Interpolation period</Name>
										<Info>
											<DefaultData>01</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Interpolation Index</Name>
										<Info>
											<DefaultData>00</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x60FF</Index>
								<Name>Target Velocity</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<SubItem>
										<Name>Target Velocity</Name>
										<Info>
											<DefaultData>00</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
									<PdoMapping>R</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x6502</Index>
								<Name>Supported Drive Modes</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<SubItem>
										<Name>Supported Drive Modes</Name>
										<Info>
											<DefaultData>0256</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#xf000</Index>
								<Name>Modular device profile</Name>
								<Type>DTF000</Type>
								<BitSize>48</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>02</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Module index distance</Name>
										<Info>
											<DefaultData>0800</DefaultData>
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