<?xml version="1.0" encoding="utf-8"?>
<EtherCATInfo xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd" Version="1.6">
	<Vendor>
		<Id>#x0000059D</Id>
		<Name>Texas Instruments Incorporated</Name>
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	</Vendor>
	<Descriptions>
		<Groups>
			<Group>
				<Type>TI C29xx SubOrdinate Devices</Type>
				<Name>TI C29xx SubOrdinate Devices</Name>
				<ImageData16x14>424DE6000000000000007600000028000000100000000E000000010004000000000070000000000000000000000000000000000000000000000000008000008000000080800080000000800080008080000080808000C0C0C0000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF00FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF99FFFF99FFFFFFFF99FFFF99FFFFFFFF99FFFF99FFFFFFFF99FFFF99FFFFFFFF99FFFF99FFFFFFFF99FFFF99FFFFFFFF99FFFF99FFFFFF999999FF99FFFFFF999999FF99FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF</ImageData16x14>
			</Group>
		</Groups>
		<Devices>
			<Device Physics="YY">
				<Type ProductCode="#x10003201" RevisionNo="#x00000001">F29H85x CPU1 EtherCAT Subordinate Device</Type>
				<Name>F29H85x CPU1 EtherCAT Subordinate Device</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>TI C29xx SubOrdinate Devices</GroupType>
				<Profile>
					<ProfileNo>5001</ProfileNo>
					<Dictionary>
						<DataTypes>
							<DataType>
								<Name>STRING(19)</Name>
								<BitSize>152</BitSize>
							</DataType>
							<DataType>
								<Name>STRING(7)</Name>
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							<DataType>
								<Name>STRING(40)</Name>
								<BitSize>320</BitSize>
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							<DataType>
								<Name>USINT</Name>
								<BitSize>8</BitSize>
							</DataType>
							<DataType>
								<Name>UDINT</Name>
								<BitSize>32</BitSize>
							</DataType>
							<DataType>
								<Name>UINT</Name>
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							</DataType>
							<DataType>
								<Name>ULINT</Name>
								<BitSize>64</BitSize>
							</DataType>
							<DataType>
								<Name>BOOL</Name>
								<BitSize>1</BitSize>
							</DataType>
							<DataType>
								<Name>DT1018</Name>
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								<SubItem>
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									<Name>SubIndex 000</Name>
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									<BitSize>8</BitSize>
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									<Flags>
										<Access>ro</Access>
									</Flags>
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								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Vendor ID</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Product Code</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Revision Number</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Serial number</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT10F1</Name>
								<BitSize>64</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Local Error Reaction</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Sync Error Counter Limit</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1600</Name>
								<BitSize>272</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>SubIndex 001</Name>
									<Type>UDINT</Type>
									<Comment>Reference to 0x7000.1</Comment>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>SubIndex 002</Name>
									<Type>UDINT</Type>
									<Comment>Reference to 0x7000.2</Comment>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>SubIndex 003</Name>
									<Type>UDINT</Type>
									<Comment>Reference to 0x7000.3</Comment>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>SubIndex 004</Name>
									<Type>UDINT</Type>
									<Comment>Reference to 0x7000.4</Comment>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>SubIndex 005</Name>
									<Type>UDINT</Type>
									<Comment>Reference to 0x7000.5</Comment>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>SubIndex 006</Name>
									<Type>UDINT</Type>
									<Comment>Reference to 0x7000.6</Comment>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>SubIndex 007</Name>
									<Type>UDINT</Type>
									<Comment>Reference to 0x7000.7</Comment>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>SubIndex 008</Name>
									<Type>UDINT</Type>
									<Comment>Reference to 0x7000.8</Comment>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1601</Name>
								<BitSize>112</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>SubIndex 001</Name>
									<Type>UDINT</Type>
									<Comment>Reference to 0x7010.1</Comment>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>SubIndex 002</Name>
									<Type>UDINT</Type>
									<Comment>Reference to 0x7012.1</Comment>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>SubIndex 003</Name>
									<Type>UDINT</Type>
									<Comment>Reference to 0x7014.1</Comment>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A00</Name>
								<BitSize>272</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>SubIndex 001</Name>
									<Type>UDINT</Type>
									<Comment>Reference to 0x6000.1</Comment>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>SubIndex 002</Name>
									<Type>UDINT</Type>
									<Comment>Reference to 0x6000.2</Comment>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>SubIndex 003</Name>
									<Type>UDINT</Type>
									<Comment>Reference to 0x6000.3</Comment>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>SubIndex 004</Name>
									<Type>UDINT</Type>
									<Comment>Reference to 0x6000.4</Comment>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>SubIndex 005</Name>
									<Type>UDINT</Type>
									<Comment>Reference to 0x6000.5</Comment>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>SubIndex 006</Name>
									<Type>UDINT</Type>
									<Comment>Reference to 0x6000.6</Comment>
									<BitSize>32</BitSize>
									<BitOffs>176</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>SubIndex 007</Name>
									<Type>UDINT</Type>
									<Comment>Reference to 0x6000.7</Comment>
									<BitSize>32</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>SubIndex 008</Name>
									<Type>UDINT</Type>
									<Comment>Reference to 0x6000.8</Comment>
									<BitSize>32</BitSize>
									<BitOffs>240</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1A01</Name>
								<BitSize>112</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>SubIndex 001</Name>
									<Type>UDINT</Type>
									<Comment>Reference to 0x6010.1</Comment>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>SubIndex 002</Name>
									<Type>UDINT</Type>
									<Comment>Reference to 0x6012.1</Comment>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>SubIndex 003</Name>
									<Type>UDINT</Type>
									<Comment>Reference to 0x6014.1</Comment>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</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>
									</Flags>
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								<SubItem>
									<Name>Elements</Name>
									<Type>DT1C00ARR</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C12ARR</Name>
								<BaseType>UINT</BaseType>
								<BitSize>32</BitSize>
								<ArrayInfo>
									<LBound>1</LBound>
									<Elements>2</Elements>
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							<DataType>
								<Name>DT1C12</Name>
								<BitSize>48</BitSize>
								<SubItem>
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									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
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								<SubItem>
									<Name>Elements</Name>
									<Type>DT1C12ARR</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
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							</DataType>
							<DataType>
								<Name>DT1C13ARR</Name>
								<BaseType>UINT</BaseType>
								<BitSize>32</BitSize>
								<ArrayInfo>
									<LBound>1</LBound>
									<Elements>2</Elements>
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							</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>ro</Access>
									</Flags>
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								<SubItem>
									<Name>Elements</Name>
									<Type>DT1C13ARR</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
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							</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>
									</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>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Synchronization Types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
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								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Minimum Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
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								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Calc and Copy Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
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									<Name>Delay Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync0 Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>SM-Event Missed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</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>
									</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>
									</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>
									</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>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Synchronization Types supported</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>96</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Minimum Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>ro</Access>
									</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>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Get Cycle Time</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>208</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>9</SubIdx>
									<Name>Delay Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>224</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>10</SubIdx>
									<Name>Sync0 Cycle Time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>256</BitOffs>
									<Flags>
										<Access>rw</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>11</SubIdx>
									<Name>SM-Event Missed</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>288</BitOffs>
									<Flags>
										<Access>ro</Access>
									</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>
									</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>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6000</Name>
								<BitSize>24</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Switch1</Name>
									<Type>BOOL</Type>
									<Comment>Switch1 Input to MDevice</Comment>
									<BitSize>1</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>t</PdoMapping>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Switch2</Name>
									<Type>BOOL</Type>
									<Comment>Switch2 Input to MDevice</Comment>
									<BitSize>1</BitSize>
									<BitOffs>17</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>t</PdoMapping>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Switch3</Name>
									<Type>BOOL</Type>
									<Comment>Switch3 Input to MDevice</Comment>
									<BitSize>1</BitSize>
									<BitOffs>18</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>t</PdoMapping>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Switch4</Name>
									<Type>BOOL</Type>
									<Comment>Switch4 Input to MDevice</Comment>
									<BitSize>1</BitSize>
									<BitOffs>19</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>t</PdoMapping>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>Switch5</Name>
									<Type>BOOL</Type>
									<Comment>Switch5 Input to MDevice</Comment>
									<BitSize>1</BitSize>
									<BitOffs>20</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>t</PdoMapping>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>Switch6</Name>
									<Type>BOOL</Type>
									<Comment>Switch6 Input to MDevice</Comment>
									<BitSize>1</BitSize>
									<BitOffs>21</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>t</PdoMapping>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>Switch7</Name>
									<Type>BOOL</Type>
									<Comment>Switch7 Input to MDevice</Comment>
									<BitSize>1</BitSize>
									<BitOffs>22</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>t</PdoMapping>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>Switch8</Name>
									<Type>BOOL</Type>
									<Comment>Switch8 Input to MDevice</Comment>
									<BitSize>1</BitSize>
									<BitOffs>23</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>t</PdoMapping>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6010</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>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>DataToMDevice</Name>
									<Type>UDINT</Type>
									<Comment>32bit Data Input to MDevice</Comment>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>t</PdoMapping>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6012</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>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>ModeResponse</Name>
									<Type>UINT</Type>
									<Comment>16 bit command Mode (0 = Position, 1 = Speed), feedback to mdevice</Comment>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>t</PdoMapping>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6014</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>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>SpeedPosFbk</Name>
									<Type>UDINT</Type>
									<Comment>32 bit Speed/Position feedback to mdevice</Comment>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<PdoMapping>t</PdoMapping>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT7000</Name>
								<BitSize>24</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>LED1</Name>
									<Type>BOOL</Type>
									<Comment>LED1 ouput from MDevice</Comment>
									<BitSize>1</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>LED2</Name>
									<Type>BOOL</Type>
									<Comment>LED2 ouput from MDevice</Comment>
									<BitSize>1</BitSize>
									<BitOffs>17</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>LED3</Name>
									<Type>BOOL</Type>
									<Comment>LED3 ouput from MDevice</Comment>
									<BitSize>1</BitSize>
									<BitOffs>18</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>LED4</Name>
									<Type>BOOL</Type>
									<Comment>LED4 output from MDevice</Comment>
									<BitSize>1</BitSize>
									<BitOffs>19</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>5</SubIdx>
									<Name>LED5</Name>
									<Type>BOOL</Type>
									<Comment>LED5 ouput from MDevice</Comment>
									<BitSize>1</BitSize>
									<BitOffs>20</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>6</SubIdx>
									<Name>LED6</Name>
									<Type>BOOL</Type>
									<Comment>LED6 ouput from MDevice</Comment>
									<BitSize>1</BitSize>
									<BitOffs>21</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>7</SubIdx>
									<Name>LED7</Name>
									<Type>BOOL</Type>
									<Comment>LED7 ouput from MDevice</Comment>
									<BitSize>1</BitSize>
									<BitOffs>22</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>8</SubIdx>
									<Name>LED8</Name>
									<Type>BOOL</Type>
									<Comment>LED8 output from MDevice</Comment>
									<BitSize>1</BitSize>
									<BitOffs>23</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT7010</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>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>DatafromMDevice</Name>
									<Type>UDINT</Type>
									<Comment>32 bit output Var from MDevice</Comment>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT7012</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>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Mode</Name>
									<Type>UINT</Type>
									<Comment>16 bit command Mode (0 = Position, 1 = Speed), request from mdevice</Comment>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT7014</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>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>SpeedPosReq</Name>
									<Type>UDINT</Type>
									<Comment>32 bit Speed/Position Request from mdevice</Comment>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<PdoMapping>r</PdoMapping>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
							</DataType>
						</DataTypes>
						<Objects>
							<Object>
								<Index>#x1000</Index>
								<Name>Device type</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>89130000</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
								</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>
								</Flags>
							</Object>
							<Object>
								<Index>#x1008</Index>
								<Name>Device name</Name>
								<Type>STRING(40)</Type>
								<BitSize>320</BitSize>
								<Info>
									<DefaultData>463239483835782043505531204574686572434154205375626F7264696E61746520446576696365</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1009</Index>
								<Name>Manufacturer Hardware version</Name>
								<Type>STRING(7)</Type>
								<BitSize>56</BitSize>
								<Info>
									<DefaultData>46323948383558</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x100A</Index>
								<Name>Manufacturer Software version</Name>
								<Type>STRING(19)</Type>
								<BitSize>152</BitSize>
								<Info>
									<DefaultData>5353435F355F31335F4332395F315F305F3031</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
								</Flags>
							</Object>
							<Object>
								<Index>#x1018</Index>
								<Name>Identity Object</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>9D050000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Product Code</Name>
										<Info>
											<DefaultData>01320010</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Revision Number</Name>
										<Info>
											<DefaultData>01000000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Serial number</Name>
										<Info>
											<DefaultData>19340000</DefaultData>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x10F1</Index>
								<Name>Error Settings</Name>
								<Type>DT10F1</Type>
								<BitSize>64</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>02</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Local Error Reaction</Name>
										<Info>
											<DefaultData>01000000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Sync Error Counter Limit</Name>
										<Info>
											<DefaultData>0400</DefaultData>
										</Info>
									</SubItem>
								</Info>
							</Object>
							<Object>
								<Index>#x10F8</Index>
								<Name>Timestamp Object</Name>
								<Type>ULINT</Type>
								<BitSize>64</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>t</PdoMapping>
								</Flags>
							</Object>
							<Object>
								<Index>#x1600</Index>
								<Name>LEDS process data mapping</Name>
								<Type>DT1600</Type>
								<BitSize>272</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>08</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 001</Name>
										<Info>
											<DefaultData>01010070</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 002</Name>
										<Info>
											<DefaultData>01020070</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 003</Name>
										<Info>
											<DefaultData>01030070</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 004</Name>
										<Info>
											<DefaultData>01040070</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 005</Name>
										<Info>
											<DefaultData>01050070</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 006</Name>
										<Info>
											<DefaultData>01060070</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 007</Name>
										<Info>
											<DefaultData>01070070</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
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								<Name>Sync manager type</Name>
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											<DefaultData>02</DefaultData>
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										<Name>SubIndex 003</Name>
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											<DefaultData>03</DefaultData>
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											<DefaultData>04</DefaultData>
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								<Index>#x1C12</Index>
								<Name>SyncManager 2 assignment</Name>
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										<Name>SubIndex 000</Name>
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											<DefaultData>02</DefaultData>
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											<DefaultData>0116</DefaultData>
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								<Index>#x1C13</Index>
								<Name>SyncManager 3 assignment</Name>
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										<Name>SubIndex 000</Name>
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											<DefaultData>20A10700</DefaultData>
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										<Name>SubIndex 000</Name>
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										<Name>Synchronization Type</Name>
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										<Name>Synchronization Types supported</Name>
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											<DefaultData>0780</DefaultData>
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											<DefaultData>20A10700</DefaultData>
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								<Index>#x6000</Index>
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										<Name>SubIndex 000</Name>
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										<Name>Switch1</Name>
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										<Name>Switch2</Name>
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											<DefaultData>00</DefaultData>
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										<Name>Switch3</Name>
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											<DefaultData>00</DefaultData>
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										<Name>Switch4</Name>
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										<Name>Switch5</Name>
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										<Name>Switch6</Name>
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										<Name>Switch7</Name>
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								<Index>#x6010</Index>
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										<Name>SubIndex 000</Name>
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											<DefaultData>01</DefaultData>
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										<Name>DataToMDevice</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
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								<Index>#x6012</Index>
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										<Name>SubIndex 000</Name>
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											<DefaultData>01</DefaultData>
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										<Name>ModeResponse</Name>
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											<DefaultData>0000</DefaultData>
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							</Object>
							<Object>
								<Index>#x6014</Index>
								<Name>TargetSpeedPosFeedback</Name>
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								<BitSize>48</BitSize>
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										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>01</DefaultData>
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										<Name>SpeedPosFbk</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
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							<Object>
								<Index>#x7000</Index>
								<Name>LEDS</Name>
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								<BitSize>24</BitSize>
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									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>08</DefaultData>
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									<SubItem>
										<Name>LED1</Name>
										<Info>
											<DefaultData>00</DefaultData>
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									<SubItem>
										<Name>LED2</Name>
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											<DefaultData>00</DefaultData>
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									<SubItem>
										<Name>LED3</Name>
										<Info>
											<DefaultData>00</DefaultData>
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									<SubItem>
										<Name>LED4</Name>
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											<DefaultData>00</DefaultData>
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									<SubItem>
										<Name>LED5</Name>
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											<DefaultData>00</DefaultData>
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									<SubItem>
										<Name>LED6</Name>
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											<DefaultData>00</DefaultData>
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									<SubItem>
										<Name>LED7</Name>
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											<DefaultData>00</DefaultData>
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									<SubItem>
										<Name>LED8</Name>
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											<DefaultData>00</DefaultData>
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								<Index>#x7010</Index>
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										<Name>SubIndex 000</Name>
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										<Name>DatafromMDevice</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
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										<Name>SubIndex 000</Name>
										<Info>
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								<Index>#x7014</Index>
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										<Name>SubIndex 000</Name>
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									<SubItem>
										<Name>SpeedPosReq</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
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				<Fmmu>Inputs</Fmmu>
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						<Name>LED4</Name>
						<DataType>BOOL</DataType>
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					<Entry>
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						<SubIndex>5</SubIndex>
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					<Entry>
						<Index>#x7000</Index>
						<SubIndex>6</SubIndex>
						<BitLen>1</BitLen>
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						<DataType>BOOL</DataType>
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						<SubIndex>8</SubIndex>
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						<Name>LED8</Name>
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						<DataType>UDINT</DataType>
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					<Entry>
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						<DataType>UINT</DataType>
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						<SubIndex>1</SubIndex>
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						<DataType>UDINT</DataType>
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				<Mailbox DataLinkLayer="true">
					<CoE SdoInfo="true" PdoAssign="false" PdoConfig="false" CompleteAccess="true" SegmentedSdo="true" />
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						<Desc>SM-Synchron</Desc>
						<AssignActivate>#x0</AssignActivate>
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					<OpMode>
						<Name>DC</Name>
						<Desc>DC-Synchron</Desc>
						<AssignActivate>#x300</AssignActivate>
						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
						<CycleTimeSync1 Factor="1">0</CycleTimeSync1>
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				<Eeprom>
					<ByteSize>2048</ByteSize>
					<ConfigData>080E02EE409C0000000000000000</ConfigData>
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		</Devices>
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