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										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Cycle time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>32</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>Shift time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Sync modes 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>Minimum shift time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT1C33</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>Sync mode</Name>
									<Type>UINT</Type>
									<BitSize>16</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</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>3</SubIdx>
									<Name>Shift time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>64</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>Sync modes 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>Minimum shift time</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>144</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>								
								<Name>DT2300</Name>
								<BitSize>112</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>index</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>value</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>status</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>							
							</DataType>
							<DataType>
								<Name>DT6046</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>vl velocity min amount</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
										<Backup>1</Backup>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>vl velocity max amount</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
										<Backup>1</Backup>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6047</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>vl velocity min pos</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
										<Backup>1</Backup>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>vl velocity max pos</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
										<Backup>1</Backup>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>3</SubIdx>
									<Name>vl velocity min neg</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>80</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
										<Backup>1</Backup>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>4</SubIdx>
									<Name>vl velocity max neg</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>112</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
										<Backup>1</Backup>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT607B</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 range limit</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
										<Backup>1</Backup>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Max position range limit</Name>
									<Type>DINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
										<Backup>1</Backup>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6091</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>Motor revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
										<Backup>1</Backup>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Shaft revolutions</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
										<Backup>1</Backup>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6093</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>Numerator</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
										<Backup>1</Backup>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Feed constant</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>o</Category>
										<Backup>1</Backup>
										<Setting>1</Setting>
									</Flags>
								</SubItem>
							</DataType>
							<DataType>
								<Name>DT6099</Name>
								<BitSize>80</BitSize>
								<SubItem>
									<SubIdx>0</SubIdx>
									<Name>SubIndex 000</Name>
									<Type>USINT</Type>
									<BitSize>8</BitSize>
									<BitOffs>0</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>1</SubIdx>
									<Name>Speed during search for switch</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>rw</Access>
										<Category>m</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<SubIdx>2</SubIdx>
									<Name>Speed during search for zero</Name>
									<Type>UDINT</Type>
									<BitSize>32</BitSize>
									<BitOffs>48</BitOffs>
									<Flags>
										<Access>rw</Access>
										<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>UINT</BaseType>
								<BitSize>48</BitSize>
								<ArrayInfo>
									<LBound>1</LBound>
									<Elements>3</Elements>
								</ArrayInfo>
							</DataType>
							<DataType>
								<Name>DTF010</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>
										<Category>o</Category>
									</Flags>
								</SubItem>
								<SubItem>
									<Name>Elements</Name>
									<Type>DTF010ARR</Type>
									<BitSize>48</BitSize>
									<BitOffs>16</BitOffs>
									<Flags>
										<Access>ro</Access>
										<Category>o</Category>
									</Flags>
								</SubItem>
							</DataType>
						</DataTypes>
						<Objects>
							<Object>
								<Index>#x1000</Index>
								<Name>Device type</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>89130000</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1001</Index>
								<Name>Error register</Name>
								<Type>SINT</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(19)</Type>
								<BitSize>152</BitSize>
								<Info>
									<DefaultData>494E56545F44413230305F4574686572434154</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1009</Index>
								<Name>Hardware version</Name>
								<Type>STRING(15)</Type>
								<BitSize>120</BitSize>
								<Info>
									<DefaultData>494E56545F44413230305F56312E30</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x100a</Index>
								<Name>Software version</Name>
								<Type>STRING(16)</Type>
								<BitSize>128</BitSize>
								<Info>
									<DefaultData>494E56545F44413230305F56312E3035</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1018</Index>
								<Name>Identity</Name>
								<Type>DT1018</Type>
								<BitSize>144</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>04</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Vendor ID</Name>
										<Info>
											<DefaultData>00000616</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Product code</Name>
										<Info>
											<DefaultData>00000001</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Revision</Name>
										<Info>
											<DefaultData>00000001</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Serial number</Name>
										<Info>
											<DefaultData>07000000</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1600</Index>
								<Name>DO RxPDO-Map0</Name>
								<Type>DT1600</Type>
								<BitSize>240</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>07</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>10007160</DefaultData>
										</Info>
									</SubItem>						
									<SubItem>
										<Name>SubIndex 005</Name>
										<Info>
											<DefaultData>08006060</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 006</Name>
										<Info>
											<DefaultData>08000000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 007</Name>
										<Info>
											<DefaultData>1000B860</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x1601</Index>
								<Name>DO RxPDO-Map1</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>DO RxPDO-Map2</Name>
								<Type>DT1602</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>02</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 001</Name>
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								<Flags>
									<Access>rw</Access>
									<PdoMapping>R</PdoMapping>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x607B</Index>
								<Name>Position range limit</Name>
								<Type>DT607B</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>02</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Min position range limit</Name>
										<Info>
											<DefaultData>80000000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Max position range limit</Name>
										<Info>
											<DefaultData>7FFFFFFF</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x607C</Index>
								<Name>Home offset</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>00000000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x607F</Index>
								<Name>Max profile velocity</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>R</PdoMapping>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x6080</Index>
								<Name>Max motor speed</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x6081</Index>
								<Name>Profile velocity</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>00000000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>R</PdoMapping>
									<Category>m</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x6083</Index>
								<Name>Profile acceleration</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>00000000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>R</PdoMapping>
									<Category>m</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x6084</Index>
								<Name>Profile deceleration</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>00000000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>R</PdoMapping>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x6091</Index>
								<Name>Gear ratio</Name>
								<Type>DT6091</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>02</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Motor revolutions</Name>
										<Info>
											<DefaultData>00000001</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Shaft revolutions</Name>
										<Info>
											<DefaultData>00000001</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x6093</Index>
								<Name>Position factor</Name>
								<Type>DT6093</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>02</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Numerator</Name>
										<Info>
											<DefaultData>00000001</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Feed constant</Name>
										<Info>
											<DefaultData>00000001</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x6098</Index>
								<Name>Homing method</Name>
								<Type>SINT</Type>
								<BitSize>8</BitSize>
								<Info>
									<DefaultData>00</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x6099</Index>
								<Name>Homing speeds</Name>
								<Type>DT6099</Type>
								<BitSize>80</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>02</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Speed during search for switch</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Speed during search for zero</Name>
										<Info>
											<DefaultData>00000000</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x609A</Index>
								<Name>Homing acceleration</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Flags>
									<Access>rw</Access>
									<Category>o</Category>
								</Flags>
							</Object>							
							<Object>
								<Index>#x60B8</Index>
								<Name>Touch probe control</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>R</PdoMapping>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x60B9</Index>
								<Name>Touch probe status</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Info>
									<DefaultData>0000</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BA</Index>
								<Name>Touch probe positive value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>00000000</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x60BB</Index>
								<Name>Touch probe negative value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>00000000</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x60E0</Index>
								<Name>Positive torque limit</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>R</PdoMapping>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x60E1</Index>
								<Name>Negtive torque limit</Name>
								<Type>UINT</Type>
								<BitSize>16</BitSize>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>R</PdoMapping>
									<Category>o</Category>
								</Flags>
							</Object>

							<Object>
								<Index>#x60F4</Index>
								<Name>Following error actual value</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>00000000</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x60FD</Index>
								<Name>Digital inputs</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>00000000</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x60FE</Index>
								<Name>Digital outputs</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>00000000</DefaultData>
								</Info>
								<Flags>
									<Access>ro</Access>
									<PdoMapping>T</PdoMapping>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x60FF</Index>
								<Name>Target Velocity</Name>
								<Type>DINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>00000000</DefaultData>
								</Info>
								<Flags>
									<Access>rw</Access>
									<PdoMapping>R</PdoMapping>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#x6502</Index>
								<Name>Supported drive modes</Name>
								<Type>UDINT</Type>
								<BitSize>32</BitSize>
								<Info>
									<DefaultData>00000000</DefaultData>
								</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>1000</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>Maximum number of modules</Name>
										<Info>
											<DefaultData>0300</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
							<Object>
								<Index>#xf010</Index>
								<Name>Module list</Name>
								<Type>DTF010</Type>
								<BitSize>64</BitSize>
								<Info>
									<SubItem>
										<Name>SubIndex 000</Name>
										<Info>
											<DefaultData>03</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 001</Name>
										<Info>
											<DefaultData>6400</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 002</Name>
										<Info>
											<DefaultData>c800</DefaultData>
										</Info>
									</SubItem>
									<SubItem>
										<Name>SubIndex 003</Name>
										<Info>
											<DefaultData>2c01</DefaultData>
										</Info>
									</SubItem>
								</Info>
								<Flags>
									<Access>ro</Access>
									<Category>o</Category>
								</Flags>
							</Object>
						</Objects>
					</Dictionary>
				</Profile>
				<Fmmu>Outputs</Fmmu>
				<Fmmu>Inputs</Fmmu>
				<Fmmu>MBoxState</Fmmu>
				<Sm MinSize="40" MaxSize="512" DefaultSize="512" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
				<Sm MinSize="40" MaxSize="512" DefaultSize="512" StartAddress="#x1200" ControlByte="#x22" Enable="1">MBoxIn</Sm>
				<Sm MinSize="1" MaxSize="128" DefaultSize="23" StartAddress="#x1400" ControlByte="#x24" Enable="1">Outputs</Sm>
				<Sm MinSize="1" MaxSize="128" DefaultSize="24" StartAddress="#x1480" ControlByte="#x00" Enable="1">Inputs</Sm>

<RxPdo Sm="2">
					<Index>#x1600</Index>
					<Name>DO Outputs</Name>
					<Entry>
						<Index>#x6040</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Control Word</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x607a</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target Position</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60ff</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Target Velocity</Name>
						<DataType>DINT</DataType>
					</Entry>				
					<Entry>
						<Index>#x6060</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Mode of Operation</Name>
						<DataType>SINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6071</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Target torque</Name>
						<DataType>INT</DataType>
					</Entry>
					<Entry>
						<Index>#x60B8</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch probe control</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60E0</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Positive torque limit</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60E1</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Negtive torque limit</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x607F</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Max profile velocity</Name>
						<DataType>UDINT</DataType>
					</Entry>		
				</RxPdo>
				<TxPdo Sm="3">
					<Index>#x1a00</Index>
					<Name>DI Inputs</Name>
										<Entry>
						<Index>#x6041</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Status Word</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6064</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Position Actual Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x606C</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Speed Actual Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6077</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Torque Actual Value</Name>
						<DataType>INT</DataType>
					</Entry>
					<Entry>
						<Index>#x6061</Index>
						<SubIndex>0</SubIndex>
						<BitLen>8</BitLen>
						<Name>Operation Mode Display</Name>
						<DataType>SINT</DataType>
					</Entry>
					<Entry>
						<Index>#x6078</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Current Actual Value</Name>
						<DataType>INT</DataType>
					</Entry>
					<Entry>
						<Index>#x60B9</Index>
						<SubIndex>0</SubIndex>
						<BitLen>16</BitLen>
						<Name>Touch Probe Status</Name>
						<DataType>UINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60BA</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Touch Probe Value</Name>
						<DataType>DINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60FD</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Digital inputs</Name>
						<DataType>UDINT</DataType>
					</Entry>
					<Entry>
						<Index>#x60FE</Index>
						<SubIndex>0</SubIndex>
						<BitLen>32</BitLen>
						<Name>Digital outputs</Name>
						<DataType>UDINT</DataType>
					</Entry>
					
				</TxPdo>
				<Mailbox DataLinkLayer="true">
					<CoE  SdoInfo="1" PdoAssign="1" PdoConfig="1"/>
				</Mailbox>
				<Dc Unknown64Bit="1" UnknownFRMW="1">
					<OpMode>
						<Name>DcSync</Name>
						<Desc>DC for synchronization</Desc>
						<AssignActivate>#x0300</AssignActivate>
						<CycleTimeSync0 Factor="1">0</CycleTimeSync0>
						<ShiftTimeSync0>0</ShiftTimeSync0>
					</OpMode>
					<OpMode>
						<Name>DCOff</Name>
						<Desc>DC unused</Desc>
						<AssignActivate>#x0000</AssignActivate>
					</OpMode>
				</Dc>
				<Eeprom>
					<ByteSize>2048</ByteSize>
					<ConfigData>090C08660001</ConfigData>
				</Eeprom>
				<Image16x14>DEVICE</Image16x14>
			</Device>
		</Devices>
	</Descriptions>
</EtherCATInfo>