--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ethercat_tests/wago_higen/MCL@motion/baseplugin.xml Sun Apr 01 16:36:41 2012 +0200
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<BaseParams Name="MCL" IEC_Channel="1"/>
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ethercat_tests/wago_higen/beremiz.xml Sun Apr 01 16:36:41 2012 +0200
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<BeremizRoot URI_location="PYRO://127.0.1.1:3000">
+ <TargetType>
+ <Xenomai CFLAGS="" LDFLAGS=""/>
+ </TargetType>
+</BeremizRoot>
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ethercat_tests/wago_higen/ethercat@etherlab/baseplugin.xml Sun Apr 01 16:36:41 2012 +0200
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<BaseParams Name="ethercat" IEC_Channel="0"/>
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/baseplugin.xml Sun Apr 01 16:36:41 2012 +0200
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<BaseParams Name="master" IEC_Channel="0"/>
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/config.xml Sun Apr 01 16:36:41 2012 +0200
@@ -0,0 +1,60 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<EtherCATConfig xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd">
+ <Config>
+ <Master>
+ <Info>
+ <Name></Name>
+ <Destination>00</Destination>
+ <Source>00</Source>
+ </Info>
+ </Master>
+ <Slave>
+ <Info>
+ <Name>EK1100</Name>
+ <PhysAddr>0</PhysAddr>
+ <AutoIncAddr>0</AutoIncAddr>
+ <Physics></Physics>
+ <VendorId>2</VendorId>
+ <ProductCode>72100946</ProductCode>
+ <RevisionNo>65536</RevisionNo>
+ <SerialNo>0</SerialNo>
+ </Info>
+ </Slave>
+ <Slave>
+ <Info>
+ <Name>EL1088</Name>
+ <PhysAddr>1</PhysAddr>
+ <AutoIncAddr>0</AutoIncAddr>
+ <Physics></Physics>
+ <VendorId>2</VendorId>
+ <ProductCode>71315538</ProductCode>
+ <RevisionNo>1048576</RevisionNo>
+ <SerialNo>0</SerialNo>
+ </Info>
+ </Slave>
+ <Slave>
+ <Info>
+ <Name>EL2088</Name>
+ <PhysAddr>2</PhysAddr>
+ <AutoIncAddr>0</AutoIncAddr>
+ <Physics></Physics>
+ <VendorId>2</VendorId>
+ <ProductCode>136851538</ProductCode>
+ <RevisionNo>1048576</RevisionNo>
+ <SerialNo>0</SerialNo>
+ </Info>
+ </Slave>
+ <Slave>
+ <Info>
+ <Name>EDA7001 CoE Drive</Name>
+ <PhysAddr>3</PhysAddr>
+ <AutoIncAddr>1</AutoIncAddr>
+ <Physics></Physics>
+ <VendorId>1573</VendorId>
+ <ProductCode>1768449365</ProductCode>
+ <RevisionNo>1</RevisionNo>
+ <SerialNo>0</SerialNo>
+ </Info>
+ </Slave>
+ </Config>
+</EtherCATConfig>
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/coupler@EthercatSlave/baseplugin.xml Sun Apr 01 16:36:41 2012 +0200
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<BaseParams Name="coupler" IEC_Channel="0"/>
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/higen@EthercatCIA402Slave/baseplugin.xml Sun Apr 01 16:36:41 2012 +0200
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<BaseParams Name="higen" IEC_Channel="3"/>
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/higen@EthercatCIA402Slave/plugin.xml Sun Apr 01 16:36:41 2012 +0200
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<CIA402SlaveParams RatioNumerator="65536" RatioDenominator="360" PositionOffset="0"/>
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/inputs@EthercatSlave/baseplugin.xml Sun Apr 01 16:36:41 2012 +0200
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<BaseParams Name="inputs" IEC_Channel="1"/>
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/outputs@EthercatSlave/baseplugin.xml Sun Apr 01 16:36:41 2012 +0200
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<BaseParams Name="outputs" IEC_Channel="2"/>
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/plugin.xml Sun Apr 01 16:36:41 2012 +0200
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<EtherlabNode/>
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ethercat_tests/wago_higen/ethercat@etherlab/modules/Beckhoff EKxxxx.xml Sun Apr 01 16:36:41 2012 +0200
@@ -0,0 +1,776 @@
+<?xml version="1.0"?>
+<EtherCATInfo xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd" Version="1.2">
+ <Vendor>
+ <Id>2</Id>
+ <Name>Beckhoff Automation GmbH</Name>
+ <ImageData16x14>424DE6000000000000007600000028000000100000000E000000010004000000000070000000120B0000120B0000100000001000000000000000000080000080000000808000800000008000800080800000C0C0C000808080000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF009D9DD99DD9DDD9DD9D9D9DD9D9DDD9DD999D9DD9D999D9999D9D9DD9D9DDD9DD9D9DD99DD999D999DDDDDDDDDDDDDDDD88888888888888888888888888888888DDDDDDDDDDDDDDDD999D999DD99DD9D99D9D9DDD9DD9D9D999DD999D9DDDD99D9D9D9DDD9DD9D99D999D999DD99DD9D9</ImageData16x14>
+ </Vendor>
+ <Descriptions>
+ <Groups>
+ <Group SortOrder="390">
+ <Type>System</Type>
+ <Name LcId="1033">System Terminals</Name>
+ <Name LcId="1031">System Klemmen</Name>
+ <Image16x14>TERM_SYS</Image16x14>
+ </Group>
+ <Group SortOrder="391">
+ <Type>SystemBk</Type>
+ <Name LcId="1033">System Couplers</Name>
+ <Name LcId="1031">System Koppler</Name>
+ <ImageData16x14>424DD6020000000000003600000028000000100000000E0000000100180000000000A0020000C40E0000C40E00000000000000000000FF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080808080808080808080808080808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000BFFF00BFFFC0C0C0808080C0C0C000FFFFC0C0C000FFFF808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000BFFF00BFFFC0C0C0808080C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000BFFF00BFFFC0C0C0808080C0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0FF0000C0C0C0FF0000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000BFFF00BFFFC0C0C0808080C0C0C00000FFC0C0C00000FF808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000BFFF00BFFFC0C0C0808080C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000BFFF00BFFFC0C0C0808080C0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0008000C0C0C0008000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FF</ImageData16x14>
+ </Group>
+ <Group SortOrder="392">
+ <Type>Customer</Type>
+ <Name LcId="1033">Customer specific Terminals</Name>
+ <Name LcId="1031">Kundenspezifische Klemmen</Name>
+ <Image16x14>TERM_CUST</Image16x14>
+ </Group>
+ </Groups>
+ <Devices>
+ <Device Physics="YKY">
+ <Type ProductCode="#x044c2c52" RevisionNo="#x00000000">EK1100</Type>
+ <HideType ProductCode="#x044c2c52" RevisionNo="#x27070000" ProductRevision="EK1100-0000-9991"/>
+ <HideType ProductCode="#x044c2c52" RevisionNo="#x27080000" ProductRevision="EK1100-0000-9992"/>
+ <HideType ProductCode="#x044c2c52" RevisionNo="#x270b0000" ProductRevision="EK1100-0000-9995"/>
+ <HideType ProductCode="#x04b02c50" RevisionNo="#x00000000" ProductRevision="EK1200-0000-0000"/>
+ <Name LcId="1033"><![CDATA[EK1100 EtherCAT Coupler (0.5A E-Bus)]]></Name>
+ <Name LcId="1031"><![CDATA[EK1100 EtherCAT-Koppler (0.5A E-Bus)]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EK1100]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EK1100]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>-500</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>SystemBk</GroupType>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0001</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="YKY">
+ <Type ProductCode="#x044c2c52" RevisionNo="#x00010000">EK1100</Type>
+ <HideType RevisionNo="#x00000000" ProductRevision="EK1100-0000-0000"/>
+ <Name LcId="1033"><![CDATA[EK1100 EtherCAT Coupler (2A E-Bus)]]></Name>
+ <Name LcId="1031"><![CDATA[EK1100 EtherCAT-Koppler (2A E-Bus)]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EK1100]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EK1100]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>-2000</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>SystemBk</GroupType>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0001</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="YKY">
+ <Type ProductCode="#x044c2c52" RevisionNo="#x00100000">EK1100</Type>
+ <HideType RevisionNo="#x00010000" ProductRevision="EK1100-0000-0001"/>
+ <Name LcId="1033"><![CDATA[EK1100 EtherCAT Coupler (2A E-Bus)]]></Name>
+ <Name LcId="1031"><![CDATA[EK1100 EtherCAT-Koppler (2A E-Bus)]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EK1100]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EK1100]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>-2000</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>SystemBk</GroupType>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0001</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="YKY">
+ <Type ProductCode="#x044c2c52" RevisionNo="#x00110000">EK1100</Type>
+ <HideType RevisionNo="#x00100000" ProductRevision="EK1100-0000-0010"/>
+ <Name LcId="1033"><![CDATA[EK1100 EtherCAT Coupler (2A E-Bus)]]></Name>
+ <Name LcId="1031"><![CDATA[EK1100 EtherCAT-Koppler (2A E-Bus)]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EK1100]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EK1100]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>-2000</EBusCurrent>
+ </Electrical>
+ <Port>
+ <Type>MII</Type>
+ <Label>X1 IN</Label>
+ </Port>
+ <Port>
+ <Type>EBUS</Type>
+ </Port>
+ <Port>
+ <Type>MII</Type>
+ <Label>X2 OUT</Label>
+ </Port>
+ </Info>
+ <GroupType>SystemBk</GroupType>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>000D</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="YK">
+ <Type ProductCode="#x044c2c52" RevisionNo="#x0010001e">EK1100-0030</Type>
+ <Name LcId="1033"><![CDATA[EK1100-0030 EtherCAT Coupler (2A E-Bus, 4kV galv. iso.)]]></Name>
+ <Name LcId="1031"><![CDATA[EK1100-0030 EtherCAT-Koppler (2A E-Bus, 4kV galv. Iso.)]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EK1100]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EK1100]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>-2000</EBusCurrent>
+ </Electrical>
+ <Port>
+ <Type>MII</Type>
+ <Label>X1 IN</Label>
+ </Port>
+ <Port>
+ <Type>EBUS</Type>
+ </Port>
+ </Info>
+ <GroupType>Customer</GroupType>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>000D</ConfigData>
+ </Eeprom>
+ <ImageData16x14>424DD6020000000000003600000028000000100000000E0000000100180000000000A0020000C40E0000C40E00000000000000000000FF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080808080808080808080808080808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000BFFF00BFFFC0C0C0808080C0C0C000FFFFC0C0C000FFFF808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000BFFF00BFFFC0C0C0808080C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000BFFF00BFFFC0C0C0808080C0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0FF0000C0C0C0FF0000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000BFFF00BFFFC0C0C0808080C0C0C00000FFC0C0C00000FF808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000BFFF00BFFFC0C0C0808080C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000BFFF00BFFFC0C0C0808080C0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0008000C0C0C0008000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FF</ImageData16x14>
+ </Device>
+ <Device Physics="YKY">
+ <Type ProductCode="#x044d2c52" RevisionNo="#x00100000">EK1101</Type>
+ <Name LcId="1033"><![CDATA[EK1101 EtherCAT Coupler (2A E-Bus, ID switch)]]></Name>
+ <Name LcId="1031"><![CDATA[EK1101 EtherCAT-Koppler (2A E-Bus, ID-Switch)]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EK1101]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EK1101]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>-2000</EBusCurrent>
+ </Electrical>
+ <IdentificationAdo>#x1000</IdentificationAdo>
+ </Info>
+ <GroupType>SystemBk</GroupType>
+ <Fmmu>Inputs</Fmmu>
+ <Sm StartAddress="#x1000" ControlByte="0" Enable="0">Inputs</Sm>
+ <TxPdo Fixed="1" Sm="0">
+ <Index>#x1a00</Index>
+ <Name>ID</Name>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>ID</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </TxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>040100000000c000</ConfigData>
+ </Eeprom>
+ <ImageData16x14>424DD6020000000000003600000028000000100000000E0000000100180000000000A0020000C40E0000C40E00000000000000000000FF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080808080808080808080808080808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000BFFF00BFFFC0C0C0808080C0C0C000FFFFC0C0C000FFFF808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000BFFF00BFFFC0C0C0808080C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000BFFF00BFFFC0C0C0808080C0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0FF0000C0C0C0FF0000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000BFFF00BFFFC0C0C0808080C0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000BFFF00BFFFC0C0C0808080C0C0C00000FFC0C0C00000FF808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000BFFF00BFFFC0C0C0808080C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0000000000000C0C0C0808080C0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FF000000C0C0C0C0C0C0000000808080C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0000000000000C0C0C0808080C0C0C0008000C0C0C0008000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080C0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FF</ImageData16x14>
+ </Device>
+ <Device Physics="YKY">
+ <Type ProductCode="#x044d2c52" RevisionNo="#x00110000">EK1101</Type>
+ <HideType RevisionNo="#x00100000" ProductRevision="EK1101-0000-0010"/>
+ <Name LcId="1033"><![CDATA[EK1101 EtherCAT Coupler (2A E-Bus, ID switch)]]></Name>
+ <Name LcId="1031"><![CDATA[EK1101 EtherCAT-Koppler (2A E-Bus, ID-Switch)]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EK1101]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EK1101]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>-2000</EBusCurrent>
+ </Electrical>
+ <Port>
+ <Type>MII</Type>
+ <Label>X1 IN</Label>
+ </Port>
+ <Port>
+ <Type>EBUS</Type>
+ </Port>
+ <Port>
+ <Type>MII</Type>
+ <Label>X2 OUT</Label>
+ </Port>
+ <IdentificationAdo>#x1000</IdentificationAdo>
+ </Info>
+ <GroupType>SystemBk</GroupType>
+ <Fmmu>Inputs</Fmmu>
+ <Sm StartAddress="#x1000" ControlByte="0" Enable="0">Inputs</Sm>
+ <TxPdo Fixed="1" Sm="0">
+ <Index>#x1a00</Index>
+ <Name>ID</Name>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>ID</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </TxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
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+ </Device>
+ </Devices>
+ </Descriptions>
+</EtherCATInfo>
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ethercat_tests/wago_higen/ethercat@etherlab/modules/Beckhoff EL1xxx.xml Sun Apr 01 16:36:41 2012 +0200
@@ -0,0 +1,5333 @@
+<?xml version="1.0"?>
+<EtherCATInfo xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd" Version="1.2">
+ <Vendor>
+ <Id>2</Id>
+ <Name>Beckhoff Automation GmbH</Name>
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+ </Vendor>
+ <Descriptions>
+ <Groups>
+ <Group SortOrder="310">
+ <Type>DigIn</Type>
+ <Name LcId="1033">Digital Input Terminals (EL1xxx)</Name>
+ <Name LcId="1031">Digitale Eingangsklemmen (EL1xxx)</Name>
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+ </Groups>
+ <Devices>
+ <Device Physics="KK">
+ <Type ProductCode="#x03ea3052" RevisionNo="#x00000000">EL1002</Type>
+ <HideType RevisionNo="#x27070000" ProductRevision="EL1002-0000-9991"/>
+ <HideType RevisionNo="#x27080000" ProductRevision="EL1002-0000-9992"/>
+ <HideType RevisionNo="#x270b0000" ProductRevision="EL1002-0000-9995"/>
+ <Name LcId="1033"><![CDATA[EL1002 2Ch. Dig. Input 24V, 3ms]]></Name>
+ <Name LcId="1031"><![CDATA[EL1002 2K. Dig. Eingang 24V, 3ms]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1002]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1002]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>110</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigIn</GroupType>
+ <Fmmu>Inputs</Fmmu>
+ <Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a00</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x3101</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a01</Index>
+ <Name>Channel 2</Name>
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+ <Index>#x3101</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0101</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x03ea3052" RevisionNo="#x00100000">EL1002</Type>
+ <HideType RevisionNo="#x00000000" ProductRevision="EL1002-0000-0000"/>
+ <Name LcId="1033"><![CDATA[EL1002 2Ch. Dig. Input 24V, 3ms]]></Name>
+ <Name LcId="1031"><![CDATA[EL1002 2K. Dig. Eingang 24V, 3ms]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1002]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1002]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>90</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigIn</GroupType>
+ <Fmmu>Inputs</Fmmu>
+ <Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a00</Index>
+ <Name>Channel 1</Name>
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+ <Index>#x6000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a01</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000000</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x03ec3052" RevisionNo="#x00000000">EL1004</Type>
+ <HideType RevisionNo="#x27070000" ProductRevision="EL1004-0000-9991"/>
+ <HideType RevisionNo="#x27080000" ProductRevision="EL1004-0000-9992"/>
+ <HideType RevisionNo="#x270b0000" ProductRevision="EL1004-0000-9995"/>
+ <Name LcId="1033"><![CDATA[EL1004 4Ch. Dig. Input 24V, 3ms]]></Name>
+ <Name LcId="1031"><![CDATA[EL1004 4K. Dig. Eingang 24V, 3ms]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1004]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1004]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>110</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigIn</GroupType>
+ <Fmmu>Inputs</Fmmu>
+ <Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a00</Index>
+ <Name>Channel 1</Name>
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+ <Index>#x3101</Index>
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+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
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+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
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+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
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+ <Name>Channel 4</Name>
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+ <SubIndex>4</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0101</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x03ec3052" RevisionNo="#x00100000">EL1004</Type>
+ <HideType RevisionNo="#x00000000" ProductRevision="EL1004-0000-0000"/>
+ <Name LcId="1033"><![CDATA[EL1004 4Ch. Dig. Input 24V, 3ms]]></Name>
+ <Name LcId="1031"><![CDATA[EL1004 4K. Dig. Eingang 24V, 3ms]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1004]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1004]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>90</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigIn</GroupType>
+ <Fmmu>Inputs</Fmmu>
+ <Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
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+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
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+ <Index>#x1a01</Index>
+ <Name>Channel 2</Name>
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+ <Index>#x6010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a02</Index>
+ <Name>Channel 3</Name>
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+ <Index>#x6020</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a03</Index>
+ <Name>Channel 4</Name>
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+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000000</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x03EC3052" RevisionNo="#x0000000A">EL1004-0010</Type>
+ <Name LcId="1033"><![CDATA[EL1004-0010 4Ch. Dig. Input 24V, isolated, 3ms]]></Name>
+ <Name LcId="1031"><![CDATA[EL1004-0010 4K. Dig. Eingang 24V, galv. getrennt, 3ms]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1004]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1004]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>110</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigIn</GroupType>
+ <Fmmu>Inputs</Fmmu>
+ <Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a00</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x3101</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a01</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x3101</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a02</Index>
+ <Name>Channel 3</Name>
+ <Entry>
+ <Index>#x3101</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a03</Index>
+ <Name>Channel 4</Name>
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+ <SubIndex>4</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0101</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x03EC3052" RevisionNo="#x0010000A">EL1004-0010</Type>
+ <HideType RevisionNo="#x0000000A" ProductRevision="EL1004-0010-0000"/>
+ <Name LcId="1033"><![CDATA[EL1004-0010 4Ch. Dig. Input 24V, isolated, 3ms]]></Name>
+ <Name LcId="1031"><![CDATA[EL1004-0010 4K. Dig. Eingang 24V, galv. getrennt, 3ms]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1004]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1004]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>110</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigIn</GroupType>
+ <Fmmu>Inputs</Fmmu>
+ <Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a00</Index>
+ <Name>Channel 1</Name>
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+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a01</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x3101</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a02</Index>
+ <Name>Channel 3</Name>
+ <Entry>
+ <Index>#x3101</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a03</Index>
+ <Name>Channel 4</Name>
+ <Entry>
+ <Index>#x3101</Index>
+ <SubIndex>4</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000000</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x03f03052" RevisionNo="#x00100000">EL1008</Type>
+ <Name LcId="1033"><![CDATA[EL1008 8Ch. Dig. Input 24V, 3ms]]></Name>
+ <Name LcId="1031"><![CDATA[EL1008 8K. Dig. Eingang 24V, 3ms]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1008]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1008]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>90</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigIn</GroupType>
+ <Fmmu>Inputs</Fmmu>
+ <Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a00</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a01</Index>
+ <Name>Channel 2</Name>
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+ <Index>#x6010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a02</Index>
+ <Name>Channel 3</Name>
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+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
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+ <Name>Channel 4</Name>
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+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a04</Index>
+ <Name>Channel 5</Name>
+ <Entry>
+ <Index>#x6040</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a05</Index>
+ <Name>Channel 6</Name>
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+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a06</Index>
+ <Name>Channel 7</Name>
+ <Entry>
+ <Index>#x6060</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a07</Index>
+ <Name>Channel 8</Name>
+ <Entry>
+ <Index>#x6070</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000000</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x03f43052" RevisionNo="#x00000000">EL1012</Type>
+ <HideType RevisionNo="#x27070000" ProductRevision="EL1012-0000-9991"/>
+ <HideType RevisionNo="#x27080000" ProductRevision="EL1012-0000-9992"/>
+ <HideType RevisionNo="#x270b0000" ProductRevision="EL1012-0000-9995"/>
+ <Name LcId="1033"><![CDATA[EL1012 2Ch. Dig. Input 24V, 10µs]]></Name>
+ <Name LcId="1031"><![CDATA[EL1012 2K. Dig. Eingang 24V, 10µs]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1012]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1012]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>110</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigIn</GroupType>
+ <Fmmu>Inputs</Fmmu>
+ <Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a00</Index>
+ <Name>Channel 1</Name>
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+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a01</Index>
+ <Name>Channel 2</Name>
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+ <Index>#x3101</Index>
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+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0101</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x03f43052" RevisionNo="#x00100000">EL1012</Type>
+ <HideType RevisionNo="#x00000000" ProductRevision="EL1012-0000-0000"/>
+ <Name LcId="1033"><![CDATA[EL1012 2Ch. Dig. Input 24V, 10µs]]></Name>
+ <Name LcId="1031"><![CDATA[EL1012 2K. Dig. Eingang 24V, 10µs]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1012]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1012]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>90</EBusCurrent>
+ </Electrical>
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+ <GroupType>DigIn</GroupType>
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+ <Su FrameRepeatSupport="1"/>
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+ </Entry>
+ </TxPdo>
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+ <Name>Channel 2</Name>
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+ <Index>#x6010</Index>
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+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
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+ </TxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000000</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x03f63052" RevisionNo="#x00000000">EL1014</Type>
+ <HideType RevisionNo="#x27070000" ProductRevision="EL1014-0000-9991"/>
+ <HideType RevisionNo="#x27080000" ProductRevision="EL1014-0000-9992"/>
+ <HideType RevisionNo="#x270b0000" ProductRevision="EL1014-0000-9995"/>
+ <Name LcId="1033"><![CDATA[EL1014 4Ch. Dig. Input 24V, 10µs]]></Name>
+ <Name LcId="1031"><![CDATA[EL1014 4K. Dig. Eingang 24V, 10µs]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1014]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1014]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>110</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigIn</GroupType>
+ <Fmmu>Inputs</Fmmu>
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+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a00</Index>
+ <Name>Channel 1</Name>
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+ <Index>#x3101</Index>
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+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a01</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x3101</Index>
+ <SubIndex>2</SubIndex>
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+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a02</Index>
+ <Name>Channel 3</Name>
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+ <Index>#x3101</Index>
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+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a03</Index>
+ <Name>Channel 4</Name>
+ <Entry>
+ <Index>#x3101</Index>
+ <SubIndex>4</SubIndex>
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+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0101</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x03f63052" RevisionNo="#x00100000">EL1014</Type>
+ <HideType RevisionNo="#x00000000" ProductRevision="EL1014-0000-0000"/>
+ <Name LcId="1033"><![CDATA[EL1014 4Ch. Dig. Input 24V, 10µs]]></Name>
+ <Name LcId="1031"><![CDATA[EL1014 4K. Dig. Eingang 24V, 10µs]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1014]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1014]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>90</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigIn</GroupType>
+ <Fmmu>Inputs</Fmmu>
+ <Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a00</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a01</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a02</Index>
+ <Name>Channel 3</Name>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>1</SubIndex>
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+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a03</Index>
+ <Name>Channel 4</Name>
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+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000000</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x03F63052" RevisionNo="#x0000000A">EL1014-0010</Type>
+ <Name LcId="1033"><![CDATA[EL1014-0010 4Ch. Dig. Input 24V, isolated, 10µs]]></Name>
+ <Name LcId="1031"><![CDATA[EL1014-0010 4K. Dig. Eingang 24V, galv. getrennt, 10µs]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1014]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1014]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>110</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigIn</GroupType>
+ <Fmmu>Inputs</Fmmu>
+ <Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a00</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x3101</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a01</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x3101</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a02</Index>
+ <Name>Channel 3</Name>
+ <Entry>
+ <Index>#x3101</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a03</Index>
+ <Name>Channel 4</Name>
+ <Entry>
+ <Index>#x3101</Index>
+ <SubIndex>4</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0101</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x03F63052" RevisionNo="#x0010000A">EL1014-0010</Type>
+ <HideType RevisionNo="#x0000000A" ProductRevision="EL1014-0010-0000"/>
+ <Name LcId="1033"><![CDATA[EL1014-0010 4Ch. Dig. Input 24V, isolated, 10µs]]></Name>
+ <Name LcId="1031"><![CDATA[EL1014-0010 4K. Dig. Eingang 24V, galv. getrennt, 10µs]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1014]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1014]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>110</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigIn</GroupType>
+ <Fmmu>Inputs</Fmmu>
+ <Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a00</Index>
+ <Name>Channel 1</Name>
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+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a01</Index>
+ <Name>Channel 2</Name>
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+ <Index>#x3101</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a02</Index>
+ <Name>Channel 3</Name>
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+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
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+ <Name>Channel 4</Name>
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+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000000</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x03fa3052" RevisionNo="#x00100000">EL1018</Type>
+ <Name LcId="1033"><![CDATA[EL1018 8Ch. Dig. Input 24V, 10µs]]></Name>
+ <Name LcId="1031"><![CDATA[EL1018 8K. Dig. Eingang 24V, 10µs]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1018]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1018]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>90</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigIn</GroupType>
+ <Fmmu>Inputs</Fmmu>
+ <Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a00</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a01</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
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+ <Index>#x1a02</Index>
+ <Name>Channel 3</Name>
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+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
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+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
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+ <Name>Channel 5</Name>
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+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
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+ <Name>Channel 6</Name>
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+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
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+ <Name>Channel 7</Name>
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+ <Index>#x6060</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
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+ <Name>Channel 8</Name>
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+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000000</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x04003052" RevisionNo="#x00100000">EL1024</Type>
+ <Name LcId="1033"><![CDATA[EL1024 4Ch. Dig. Input 24V, Type 2, 3ms]]></Name>
+ <Name LcId="1031"><![CDATA[EL1024 4K. Dig. Eingang 24V, Typ-2, 3ms]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1024]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1024]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>90</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigIn</GroupType>
+ <Fmmu>Inputs</Fmmu>
+ <Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a00</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a01</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
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+ <Name>Channel 3</Name>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a03</Index>
+ <Name>Channel 4</Name>
+ <Entry>
+ <Index>#x6030</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000000</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x040a3052" RevisionNo="#x00100000">EL1034</Type>
+ <Name LcId="1033"><![CDATA[EL1034 4Ch. Dig. Input 24V, potential-free, 10µs]]></Name>
+ <Name LcId="1031"><![CDATA[EL1034 4K. Dig. Eingang 24V, potenzialfrei, 10µs]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1034]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1034]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>90</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigIn</GroupType>
+ <Fmmu>Inputs</Fmmu>
+ <Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a00</Index>
+ <Name>Channel 1</Name>
+ <Entry>
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+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
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+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x6010</Index>
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+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a02</Index>
+ <Name>Channel 3</Name>
+ <Entry>
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+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
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+ <Name>Channel 4</Name>
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+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000000</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x043c3052" RevisionNo="#x00100000">EL1084</Type>
+ <Name LcId="1033"><![CDATA[EL1084 4Ch. Dig. Input 24V, 3ms, negative]]></Name>
+ <Name LcId="1031"><![CDATA[EL1084 4K. Dig. Eingang 24V, 3ms, negativ]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1084]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1084]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>90</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigIn</GroupType>
+ <Fmmu>Inputs</Fmmu>
+ <Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a00</Index>
+ <Name>Channel 1</Name>
+ <Entry>
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+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a01</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a02</Index>
+ <Name>Channel 3</Name>
+ <Entry>
+ <Index>#x6020</Index>
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+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a03</Index>
+ <Name>Channel 4</Name>
+ <Entry>
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+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000000</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x04403052" RevisionNo="#x00100000">EL1088</Type>
+ <Name LcId="1033"><![CDATA[EL1088 8Ch. Dig. Input 24V, 3ms, negative]]></Name>
+ <Name LcId="1031"><![CDATA[EL1088 8K. Dig. Eingang 24V, 3ms, negativ]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1088]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1088]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>90</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigIn</GroupType>
+ <Fmmu>Inputs</Fmmu>
+ <Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a00</Index>
+ <Name>Channel 1</Name>
+ <Entry>
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+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a01</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a02</Index>
+ <Name>Channel 3</Name>
+ <Entry>
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+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
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+ <Name>Channel 4</Name>
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+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
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+ <Name>Channel 5</Name>
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+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
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+ <Name>Channel 6</Name>
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+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
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+ <Name>Channel 7</Name>
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+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
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+ <Name>Channel 8</Name>
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+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>040100000000f000</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x04463052" RevisionNo="#x00100000">EL1094</Type>
+ <Name LcId="1033"><![CDATA[EL1094 4Ch. Dig. Input 24V, 10µs, negative]]></Name>
+ <Name LcId="1031"><![CDATA[EL1094 4K. Dig. Eingang 24V, 10µs, negativ]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1094]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1094]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>90</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigIn</GroupType>
+ <Fmmu>Inputs</Fmmu>
+ <Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a00</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a01</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a02</Index>
+ <Name>Channel 3</Name>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a03</Index>
+ <Name>Channel 4</Name>
+ <Entry>
+ <Index>#x6030</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000000</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x044a3052" RevisionNo="#x00100000">EL1098</Type>
+ <Name LcId="1033"><![CDATA[EL1098 8Ch. Dig. Input 24V, 10µs, negative]]></Name>
+ <Name LcId="1031"><![CDATA[EL1098 8K. Dig. Eingang 24V, 10µs, negativ]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1098]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1098]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>90</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigIn</GroupType>
+ <Fmmu>Inputs</Fmmu>
+ <Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a00</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a01</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
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+ <Index>#x1a02</Index>
+ <Name>Channel 3</Name>
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+ <Index>#x6020</Index>
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+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a03</Index>
+ <Name>Channel 4</Name>
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+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a04</Index>
+ <Name>Channel 5</Name>
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+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a05</Index>
+ <Name>Channel 6</Name>
+ <Entry>
+ <Index>#x6050</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a06</Index>
+ <Name>Channel 7</Name>
+ <Entry>
+ <Index>#x6060</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a07</Index>
+ <Name>Channel 8</Name>
+ <Entry>
+ <Index>#x6070</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>040100000000f000</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x04503052" RevisionNo="#x00100000">EL1104</Type>
+ <Name LcId="1033"><![CDATA[EL1104 4Ch. Dig. Input 24V, 3ms, Sensor Power]]></Name>
+ <Name LcId="1031"><![CDATA[EL1104 4K. Dig. Eingang 24V, 3ms, Sensorversorgung]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1104]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1104]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>90</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigIn</GroupType>
+ <Fmmu>Inputs</Fmmu>
+ <Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a00</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a01</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a02</Index>
+ <Name>Channel 3</Name>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a03</Index>
+ <Name>Channel 4</Name>
+ <Entry>
+ <Index>#x6030</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000000</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x045a3052" RevisionNo="#x00100000">EL1114</Type>
+ <Name LcId="1033"><![CDATA[EL1114 4Ch. Dig. Input 24V, 10µs, Sensor Power]]></Name>
+ <Name LcId="1031"><![CDATA[EL1114 4K. Dig. Eingang 24V, 10µs, Sensorversorgung]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1114]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1114]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>90</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigIn</GroupType>
+ <Fmmu>Inputs</Fmmu>
+ <Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a00</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
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+ <Index>#x1a01</Index>
+ <Name>Channel 2</Name>
+ <Entry>
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+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
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+ <Name>Channel 3</Name>
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+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a03</Index>
+ <Name>Channel 4</Name>
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+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000000</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x04643052" RevisionNo="#x00100000">EL1124</Type>
+ <Name LcId="1033"><![CDATA[EL1124 4Ch. Dig. Input 5V, 10µs, Sensor Power]]></Name>
+ <Name LcId="1031"><![CDATA[EL1124 4K. Dig. Eingang 5V, 10µs, Sensorversorgung]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1124]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1124]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>90</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigIn</GroupType>
+ <Fmmu>Inputs</Fmmu>
+ <Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a00</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a01</Index>
+ <Name>Channel 2</Name>
+ <Entry>
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+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
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+ <Name>Channel 3</Name>
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+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
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+ <Name>Channel 4</Name>
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+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000000</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x046e3052" RevisionNo="#x00100000">EL1134</Type>
+ <Name LcId="1033"><![CDATA[EL1134 4Ch. Dig. Input 48V, 10µs, Sensor Power]]></Name>
+ <Name LcId="1031"><![CDATA[EL1134 4K. Dig. Eingang 48V, 10µs, Sensorversorgung]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1134]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1134]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>90</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigIn</GroupType>
+ <Fmmu>Inputs</Fmmu>
+ <Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a00</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a01</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a02</Index>
+ <Name>Channel 3</Name>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
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+ <Name>Channel 4</Name>
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+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000000</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x04783052" RevisionNo="#x00100000">EL1144</Type>
+ <Name LcId="1033"><![CDATA[EL1144 4Ch. Dig. Input 12V, 10µs, Sensor Power]]></Name>
+ <Name LcId="1031"><![CDATA[EL1144 4K. Dig. Eingang 12V, 10µs, Sensorversorgung]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1144]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1144]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>90</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigIn</GroupType>
+ <Fmmu>Inputs</Fmmu>
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+ <Su FrameRepeatSupport="1"/>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
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+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a01</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a02</Index>
+ <Name>Channel 3</Name>
+ <Entry>
+ <Index>#x6020</Index>
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+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
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+ <Name>Channel 4</Name>
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+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000000</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x04b23052" RevisionNo="#x00100000">EL1202</Type>
+ <AlternativeType RevisionNo="#x00100064"/>
+ <Name LcId="1033"><![CDATA[EL1202 2Ch. Fast Dig. Input 24V, 1µs]]></Name>
+ <Name LcId="1031"><![CDATA[EL1202 2K. Fast Dig. Eingang 24V, 1µs]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1202]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1202]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>110</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigIn</GroupType>
+ <Fmmu>Inputs</Fmmu>
+ <Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a00</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a01</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000000</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x04b23052" RevisionNo="#x00100064">EL1202-0100</Type>
+ <AlternativeType RevisionNo="#x00100000"/>
+ <Name LcId="1033"><![CDATA[EL1202-0100 2Ch. Fast Dig. Input 24V, 1µs, DC Latch]]></Name>
+ <Name LcId="1031"><![CDATA[EL1202-0100 2K. Fast Dig. Eingang 24V, 1µs, DC Latch]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1202]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1202]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>110</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigIn</GroupType>
+ <Fmmu Sm="0" Su="0">Inputs</Fmmu>
+ <Fmmu Sm="1" Su="1">Inputs</Fmmu>
+ <Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
+ <Sm StartAddress="#x0990" Virtual="true">Inputs</Sm>
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+ <Name>Channel 1</Name>
+ <Entry>
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+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
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+ <Name>Channel 2</Name>
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+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
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+ <Name>Reserved</Name>
+ </TxPdo>
+ <TxPdo Fixed="1" Su="1" Virtual="true">
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+ <Exclude>#x1a11</Exclude>
+ <Entry>
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+ <BitLen>32</BitLen>
+ <Name>NextLatchTime</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ </TxPdo>
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+ <BitLen>64</BitLen>
+ <Name>NextLatchTime</Name>
+ <DataType>ULINT</DataType>
+ </Entry>
+ </TxPdo>
+ <Dc>
+ <OpMode>
+ <Name>DcLatch</Name>
+ <Desc>DC Latch</Desc>
+ <AssignActivate>#x0300</AssignActivate>
+ <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+ <ShiftTimeSync0 Input="1">0</ShiftTimeSync0>
+ </OpMode>
+ </Dc>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401200080000000</ConfigData>
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+ <Name LcId="1031"><![CDATA[EL1252-0010 2K. Fast Dig. Eingang 24V, 10µs, DC Latch]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1252]]></URL>
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+ </VendorSpecific>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x04EE3052" RevisionNo="#x00020000">EL1262</Type>
+ <Name LcId="1033"><![CDATA[EL1262 2Ch. Dig. Input 24V, 1µs, DC Oversample]]></Name>
+ <Name LcId="1031"><![CDATA[EL1262 2K. Dig. Eingang 24V, 1µs, DC Oversample]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1262]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1262]]></URL>
+ <Info>
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+ </Electrical>
+ </Info>
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+ <TwinCAT IgnoreFromBuildNo="1506"/>
+ </VendorSpecific>
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+ <Name>DcSync2</Name>
+ <Desc>2 Ch. - 2 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-2">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1B00</Pdo>
+ <Pdo OSFac="2">#x1A00</Pdo>
+ <Pdo>#x1B15</Pdo>
+ </Sm>
+ <Sm No="2">
+ <Pdo>#x1B05</Pdo>
+ </Sm>
+ <Sm No="1">
+ <Pdo>#x1B01</Pdo>
+ <Pdo OSFac="2">#x1A80</Pdo>
+ <Pdo>#x1B1d</Pdo>
+ </Sm>
+ <VendorSpecific>
+ <TwinCAT IgnoreFromBuildNo="1506"/>
+ </VendorSpecific>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync4</Name>
+ <Desc>2 Ch. - 4 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-4">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1B00</Pdo>
+ <Pdo OSFac="4">#x1A00</Pdo>
+ <Pdo>#x1B13</Pdo>
+ </Sm>
+ <Sm No="2">
+ <Pdo>#x1B05</Pdo>
+ </Sm>
+ <Sm No="1">
+ <Pdo>#x1B01</Pdo>
+ <Pdo OSFac="4">#x1A80</Pdo>
+ <Pdo>#x1B1b</Pdo>
+ </Sm>
+ <VendorSpecific>
+ <TwinCAT IgnoreFromBuildNo="1506"/>
+ </VendorSpecific>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync5</Name>
+ <Desc>2 Ch. - 5 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-5">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1B00</Pdo>
+ <Pdo OSFac="5">#x1A00</Pdo>
+ <Pdo>#x1B12</Pdo>
+ </Sm>
+ <Sm No="2">
+ <Pdo>#x1B05</Pdo>
+ </Sm>
+ <Sm No="1">
+ <Pdo>#x1B01</Pdo>
+ <Pdo OSFac="5">#x1A80</Pdo>
+ <Pdo>#x1B1a</Pdo>
+ </Sm>
+ <VendorSpecific>
+ <TwinCAT IgnoreFromBuildNo="1506"/>
+ </VendorSpecific>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync8</Name>
+ <Desc>2 Ch. - 8 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-8">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1B00</Pdo>
+ <Pdo OSFac="8">#x1A00</Pdo>
+ </Sm>
+ <Sm No="2">
+ <Pdo>#x1B05</Pdo>
+ </Sm>
+ <Sm No="1">
+ <Pdo>#x1B01</Pdo>
+ <Pdo OSFac="8">#x1A80</Pdo>
+ </Sm>
+ <VendorSpecific>
+ <TwinCAT IgnoreFromBuildNo="1506"/>
+ </VendorSpecific>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync10</Name>
+ <Desc>2 Ch. - 10 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-10">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1B00</Pdo>
+ <Pdo OSFac="10">#x1A00</Pdo>
+ <Pdo>#x1B15</Pdo>
+ </Sm>
+ <Sm No="2">
+ <Pdo>#x1B05</Pdo>
+ </Sm>
+ <Sm No="1">
+ <Pdo>#x1B01</Pdo>
+ <Pdo OSFac="10">#x1A80</Pdo>
+ <Pdo>#x1B1d</Pdo>
+ </Sm>
+ <VendorSpecific>
+ <TwinCAT IgnoreFromBuildNo="1506"/>
+ </VendorSpecific>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync16</Name>
+ <Desc>2 Ch. - 16 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-16">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1B00</Pdo>
+ <Pdo OSFac="16">#x1A00</Pdo>
+ </Sm>
+ <Sm No="2">
+ <Pdo>#x1B05</Pdo>
+ </Sm>
+ <Sm No="1">
+ <Pdo>#x1B01</Pdo>
+ <Pdo OSFac="16">#x1A80</Pdo>
+ </Sm>
+ <VendorSpecific>
+ <TwinCAT IgnoreFromBuildNo="1506"/>
+ </VendorSpecific>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync20</Name>
+ <Desc>2 Ch. - 20 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-20">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1B00</Pdo>
+ <Pdo OSFac="20">#x1A00</Pdo>
+ <Pdo>#x1B13</Pdo>
+ </Sm>
+ <Sm No="2">
+ <Pdo>#x1B05</Pdo>
+ </Sm>
+ <Sm No="1">
+ <Pdo>#x1B01</Pdo>
+ <Pdo OSFac="20">#x1A80</Pdo>
+ <Pdo>#x1B1b</Pdo>
+ </Sm>
+ <VendorSpecific>
+ <TwinCAT IgnoreFromBuildNo="1506"/>
+ </VendorSpecific>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync40</Name>
+ <Desc>2 Ch. - 40 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-40">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1B00</Pdo>
+ <Pdo OSFac="40">#x1A00</Pdo>
+ </Sm>
+ <Sm No="2">
+ <Pdo>#x1B05</Pdo>
+ </Sm>
+ <Sm No="1">
+ <Pdo>#x1B01</Pdo>
+ <Pdo OSFac="40">#x1A80</Pdo>
+ </Sm>
+ <VendorSpecific>
+ <TwinCAT IgnoreFromBuildNo="1506"/>
+ </VendorSpecific>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync50</Name>
+ <Desc>2 Ch. - 50 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-50">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1B00</Pdo>
+ <Pdo OSFac="50">#x1A00</Pdo>
+ <Pdo>#x1B15</Pdo>
+ </Sm>
+ <Sm No="2">
+ <Pdo>#x1B05</Pdo>
+ </Sm>
+ <Sm No="1">
+ <Pdo>#x1B01</Pdo>
+ <Pdo OSFac="50">#x1A80</Pdo>
+ <Pdo>#x1B1d</Pdo>
+ </Sm>
+ <VendorSpecific>
+ <TwinCAT IgnoreFromBuildNo="1506"/>
+ </VendorSpecific>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync100</Name>
+ <Desc>2 Ch. - 100 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-100">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1B00</Pdo>
+ <Pdo OSFac="100">#x1A00</Pdo>
+ <Pdo>#x1B13</Pdo>
+ </Sm>
+ <Sm No="2">
+ <Pdo>#x1B05</Pdo>
+ </Sm>
+ <Sm No="1">
+ <Pdo>#x1B01</Pdo>
+ <Pdo OSFac="100">#x1A80</Pdo>
+ <Pdo>#x1B1b</Pdo>
+ </Sm>
+ <VendorSpecific>
+ <TwinCAT IgnoreFromBuildNo="1506"/>
+ </VendorSpecific>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync200</Name>
+ <Desc>2 Ch. - 200 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-200">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1B00</Pdo>
+ <Pdo OSFac="25">#x1B80</Pdo>
+ </Sm>
+ <Sm No="2">
+ <Pdo>#x1B05</Pdo>
+ </Sm>
+ <Sm No="1">
+ <Pdo>#x1B01</Pdo>
+ <Pdo OSFac="25">#x1C00</Pdo>
+ </Sm>
+ <VendorSpecific>
+ <TwinCAT IgnoreFromBuildNo="1506"/>
+ </VendorSpecific>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync400</Name>
+ <Desc>2 Ch. - 400 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-400">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1B00</Pdo>
+ <Pdo OSFac="50">#x1B80</Pdo>
+ </Sm>
+ <Sm No="2">
+ <Pdo>#x1B05</Pdo>
+ </Sm>
+ <Sm No="1">
+ <Pdo>#x1B01</Pdo>
+ <Pdo OSFac="50">#x1C00</Pdo>
+ </Sm>
+ <VendorSpecific>
+ <TwinCAT IgnoreFromBuildNo="1506"/>
+ </VendorSpecific>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync1000</Name>
+ <Desc>2 Ch. - 1000 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-1000">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1B00</Pdo>
+ <Pdo OSFac="125">#x1B80</Pdo>
+ </Sm>
+ <Sm No="1">
+ <Pdo>#x1B01</Pdo>
+ <Pdo OSFac="125">#x1C00</Pdo>
+ </Sm>
+ <Sm No="2">
+ <Pdo>#x1B05</Pdo>
+ </Sm>
+ <VendorSpecific>
+ <TwinCAT IgnoreFromBuildNo="1506"/>
+ </VendorSpecific>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync</Name>
+ <Desc>2 Channels (Bits)</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-1">0</CycleTimeSync0>
+ <ShiftTimeSync0 Input="1">0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1B00</Pdo>
+ <Pdo OSFac="1">#x1A00</Pdo>
+ <Pdo>#x1B15</Pdo>
+ </Sm>
+ <Sm No="1">
+ <Pdo>#x1B01</Pdo>
+ <Pdo OSFac="1">#x1A80</Pdo>
+ <Pdo>#x1B1d</Pdo>
+ </Sm>
+ <Sm No="2">
+ <Pdo>#x1b05</Pdo>
+ </Sm>
+ <VendorSpecific>
+ <TwinCAT UseFromBuildNo="1506">
+ <Oversampling DefaultFactor="10" MinCycleTime="1000"/>
+ </TwinCAT>
+ </VendorSpecific>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync2</Name>
+ <Desc>2 Channels (Bytes)</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-8">0</CycleTimeSync0>
+ <ShiftTimeSync0 Input="1">0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1B00</Pdo>
+ <Pdo OSFac="1">#x1B80</Pdo>
+ </Sm>
+ <Sm No="1">
+ <Pdo>#x1B01</Pdo>
+ <Pdo OSFac="1">#x1C00</Pdo>
+ </Sm>
+ <Sm No="2">
+ <Pdo>#x1b05</Pdo>
+ </Sm>
+ <VendorSpecific>
+ <TwinCAT UseFromBuildNo="1506">
+ <Oversampling DefaultFactor="10" MinCycleTime="1000"/>
+ </TwinCAT>
+ </VendorSpecific>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync_1</Name>
+ <Desc>1 Channel (Bits)</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-1">0</CycleTimeSync0>
+ <ShiftTimeSync0 Input="1">0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1B00</Pdo>
+ <Pdo OSFac="1">#x1A00</Pdo>
+ <Pdo>#x1B15</Pdo>
+ </Sm>
+ <Sm No="2">
+ <Pdo>#x1b05</Pdo>
+ </Sm>
+ <VendorSpecific>
+ <TwinCAT UseFromBuildNo="1506">
+ <Oversampling DefaultFactor="10" MinCycleTime="1000"/>
+ </TwinCAT>
+ </VendorSpecific>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync2_1</Name>
+ <Desc>1 Channel (Bytes)</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-8">0</CycleTimeSync0>
+ <ShiftTimeSync0 Input="1">0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1B00</Pdo>
+ <Pdo OSFac="1">#x1B80</Pdo>
+ </Sm>
+ <Sm No="2">
+ <Pdo>#x1b05</Pdo>
+ </Sm>
+ <VendorSpecific>
+ <TwinCAT UseFromBuildNo="1506">
+ <Oversampling DefaultFactor="10" MinCycleTime="1000"/>
+ </TwinCAT>
+ </VendorSpecific>
+ </OpMode>
+ </Dc>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0601000010000100</ConfigData>
+ </Eeprom>
+ <VendorSpecific>
+ <TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
+ </VendorSpecific>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x06a63052" RevisionNo="#x00100000">EL1702</Type>
+ <Name LcId="1033"><![CDATA[EL1702 2Ch. Dig. Input 120V/230V AC, 10ms]]></Name>
+ <Name LcId="1031"><![CDATA[EL1702 2K. Dig. Eingang 120V/230V AC, 10ms]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1702]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1702]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>90</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigIn</GroupType>
+ <Fmmu>Inputs</Fmmu>
+ <Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a00</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a01</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000000</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x06b03052" RevisionNo="#x00100000">EL1712</Type>
+ <Name LcId="1033"><![CDATA[EL1712 2Ch. Dig. Input 120V AC/DC, 10ms]]></Name>
+ <Name LcId="1031"><![CDATA[EL1712 2K. Dig. Eingang 120V AC/DC, 10ms]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1712]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1712]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>90</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigIn</GroupType>
+ <Fmmu>Inputs</Fmmu>
+ <Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a00</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a01</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000000</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x06ba3052" RevisionNo="#x00100000">EL1722</Type>
+ <Name LcId="1033"><![CDATA[EL1722 2Ch. Dig. Input 120V/230V AC, 10ms, no power contacts]]></Name>
+ <Name LcId="1031"><![CDATA[EL1722 2K. Dig. Eingang 120V/230V AC, 10ms, keine Powerkontakte]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1722]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1722]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>90</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigIn</GroupType>
+ <Fmmu>Inputs</Fmmu>
+ <Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a00</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a01</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000000</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x070C3052" RevisionNo="#x00100000">EL1804</Type>
+ <Name LcId="1033"><![CDATA[EL1804 4Ch. Dig. Input 24V, 3ms]]></Name>
+ <Name LcId="1031"><![CDATA[EL1804 4K. Dig. Eingang 24V, 3ms]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1804]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1804]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>90</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigIn</GroupType>
+ <Fmmu>Inputs</Fmmu>
+ <Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a00</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a01</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a02</Index>
+ <Name>Channel 3</Name>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a03</Index>
+ <Name>Channel 4</Name>
+ <Entry>
+ <Index>#x6030</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000000</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x07103052" RevisionNo="#x00100000">EL1808</Type>
+ <Name LcId="1033"><![CDATA[EL1808 8Ch. Dig. Input 24V, 3ms]]></Name>
+ <Name LcId="1031"><![CDATA[EL1808 8K. Dig. Eingang 24V, 3ms]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1808]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1808]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>100</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigIn</GroupType>
+ <Fmmu>Inputs</Fmmu>
+ <Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a00</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a01</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a02</Index>
+ <Name>Channel 3</Name>
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+ <Index>#x6020</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a03</Index>
+ <Name>Channel 4</Name>
+ <Entry>
+ <Index>#x6030</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a04</Index>
+ <Name>Channel 5</Name>
+ <Entry>
+ <Index>#x6040</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a05</Index>
+ <Name>Channel 6</Name>
+ <Entry>
+ <Index>#x6050</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a06</Index>
+ <Name>Channel 7</Name>
+ <Entry>
+ <Index>#x6060</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a07</Index>
+ <Name>Channel 8</Name>
+ <Entry>
+ <Index>#x6070</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000000</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x07113052" RevisionNo="#x00100000">EL1809</Type>
+ <Name LcId="1033"><![CDATA[EL1809 16Ch. Dig. Input 24V, 3ms]]></Name>
+ <Name LcId="1031"><![CDATA[EL1809 16K. Dig. Eingang 24V, 3ms]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1809]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1809]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>100</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigIn</GroupType>
+ <Fmmu>Inputs</Fmmu>
+ <Sm DefaultSize="2" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a00</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a01</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a02</Index>
+ <Name>Channel 3</Name>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a03</Index>
+ <Name>Channel 4</Name>
+ <Entry>
+ <Index>#x6030</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a04</Index>
+ <Name>Channel 5</Name>
+ <Entry>
+ <Index>#x6040</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a05</Index>
+ <Name>Channel 6</Name>
+ <Entry>
+ <Index>#x6050</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a06</Index>
+ <Name>Channel 7</Name>
+ <Entry>
+ <Index>#x6060</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
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+ <Index>#x1a07</Index>
+ <Name>Channel 8</Name>
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+ <Index>#x6070</Index>
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+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a08</Index>
+ <Name>Channel 9</Name>
+ <Entry>
+ <Index>#x6080</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a09</Index>
+ <Name>Channel 10</Name>
+ <Entry>
+ <Index>#x6090</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a0a</Index>
+ <Name>Channel 11</Name>
+ <Entry>
+ <Index>#x60a0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a0b</Index>
+ <Name>Channel 12</Name>
+ <Entry>
+ <Index>#x60b0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a0c</Index>
+ <Name>Channel 13</Name>
+ <Entry>
+ <Index>#x60c0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a0d</Index>
+ <Name>Channel 14</Name>
+ <Entry>
+ <Index>#x60d0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a0e</Index>
+ <Name>Channel 15</Name>
+ <Entry>
+ <Index>#x60e0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a0f</Index>
+ <Name>Channel 16</Name>
+ <Entry>
+ <Index>#x60f0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000000</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x07163052" RevisionNo="#x00100000">EL1814</Type>
+ <Name LcId="1033"><![CDATA[EL1814 4Ch. Dig. Input 24V, 10µs]]></Name>
+ <Name LcId="1031"><![CDATA[EL1814 4K. Dig. Eingang 24V, 10µs]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1814]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1814]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>90</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigIn</GroupType>
+ <Fmmu>Inputs</Fmmu>
+ <Sm DefaultSize="1" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a00</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a01</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a02</Index>
+ <Name>Channel 3</Name>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a03</Index>
+ <Name>Channel 4</Name>
+ <Entry>
+ <Index>#x6030</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000000</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x071b3052" RevisionNo="#x00100000">EL1819</Type>
+ <Name LcId="1033"><![CDATA[EL1819 16Ch. Dig. Input 24V, 10µs]]></Name>
+ <Name LcId="1031"><![CDATA[EL1819 16K. Dig. Eingang 24V, 10µs]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1819]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1819]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>100</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigIn</GroupType>
+ <Fmmu>Inputs</Fmmu>
+ <Sm DefaultSize="2" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a00</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a01</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a02</Index>
+ <Name>Channel 3</Name>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a03</Index>
+ <Name>Channel 4</Name>
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+ <Index>#x6030</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a04</Index>
+ <Name>Channel 5</Name>
+ <Entry>
+ <Index>#x6040</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a05</Index>
+ <Name>Channel 6</Name>
+ <Entry>
+ <Index>#x6050</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a06</Index>
+ <Name>Channel 7</Name>
+ <Entry>
+ <Index>#x6060</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a07</Index>
+ <Name>Channel 8</Name>
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+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a08</Index>
+ <Name>Channel 9</Name>
+ <Entry>
+ <Index>#x6080</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a09</Index>
+ <Name>Channel 10</Name>
+ <Entry>
+ <Index>#x6090</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a0a</Index>
+ <Name>Channel 11</Name>
+ <Entry>
+ <Index>#x60a0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a0b</Index>
+ <Name>Channel 12</Name>
+ <Entry>
+ <Index>#x60b0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a0c</Index>
+ <Name>Channel 13</Name>
+ <Entry>
+ <Index>#x60c0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a0d</Index>
+ <Name>Channel 14</Name>
+ <Entry>
+ <Index>#x60d0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a0e</Index>
+ <Name>Channel 15</Name>
+ <Entry>
+ <Index>#x60e0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a0f</Index>
+ <Name>Channel 16</Name>
+ <Entry>
+ <Index>#x60f0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000000</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x07433052" RevisionNo="#x00100000">EL1859</Type>
+ <Name LcId="1033"><![CDATA[EL1859 8Ch. Dig. Input 24V, 3ms, 8Ch. Dig. Output 24V, 0.5A]]></Name>
+ <Name LcId="1031"><![CDATA[EL1859 8K. Dig. Eingang 24V, 3ms, 8K. Dig. Ausgang 24V, 0.5A]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1859]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1859]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>130</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigIn</GroupType>
+ <Fmmu OpOnly="1">Outputs</Fmmu>
+ <Fmmu>Inputs</Fmmu>
+ <Sm MinSize="1" MaxSize="1" DefaultSize="1" StartAddress="#x0f01" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+ <Sm MinSize="1" MaxSize="1" DefaultSize="1" StartAddress="#x1000" ControlByte="#x0" Enable="1">Inputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1608</Index>
+ <Name>Channel 9</Name>
+ <Entry>
+ <Index>#x7080</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1609</Index>
+ <Name>Channel 10</Name>
+ <Entry>
+ <Index>#x7090</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x160A</Index>
+ <Name>Channel 11</Name>
+ <Entry>
+ <Index>#x70A0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x160B</Index>
+ <Name>Channel 12</Name>
+ <Entry>
+ <Index>#x70B0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x160C</Index>
+ <Name>Channel 13</Name>
+ <Entry>
+ <Index>#x70C0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x160D</Index>
+ <Name>Channel 14</Name>
+ <Entry>
+ <Index>#x70D0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x160E</Index>
+ <Name>Channel 15</Name>
+ <Entry>
+ <Index>#x70E0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x160F</Index>
+ <Name>Channel 16</Name>
+ <Entry>
+ <Index>#x70F0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x1a00</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
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+ <Name>Channel 2</Name>
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+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
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+ <Index>#x1a02</Index>
+ <Name>Channel 3</Name>
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+ <Index>#x6020</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x1a03</Index>
+ <Name>Channel 4</Name>
+ <Entry>
+ <Index>#x6030</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x1a04</Index>
+ <Name>Channel 5</Name>
+ <Entry>
+ <Index>#x6040</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x1a05</Index>
+ <Name>Channel 6</Name>
+ <Entry>
+ <Index>#x6050</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x1a06</Index>
+ <Name>Channel 7</Name>
+ <Entry>
+ <Index>#x6060</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x1a07</Index>
+ <Name>Channel 8</Name>
+ <Entry>
+ <Index>#x6070</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>040100000000F0FF</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x07463052" RevisionNo="#x00100000">EL1862</Type>
+ <Name LcId="1033"><![CDATA[EL1862 16Ch. Dig. Input 24V, 3ms]]></Name>
+ <Name LcId="1031"><![CDATA[EL1862 16K. Dig. Eingang 24V, 3ms]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1862]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1862]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>100</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigIn</GroupType>
+ <Fmmu>Inputs</Fmmu>
+ <Sm DefaultSize="2" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a00</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a01</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a02</Index>
+ <Name>Channel 3</Name>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a03</Index>
+ <Name>Channel 4</Name>
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+ <Index>#x6030</Index>
+ <SubIndex>1</SubIndex>
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+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a04</Index>
+ <Name>Channel 5</Name>
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+ <Index>#x6040</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a05</Index>
+ <Name>Channel 6</Name>
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+ <Index>#x6050</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
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+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
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+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
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+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
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+ <Name>Channel 10</Name>
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+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
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+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
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+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
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+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a0d</Index>
+ <Name>Channel 14</Name>
+ <Entry>
+ <Index>#x60d0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a0e</Index>
+ <Name>Channel 15</Name>
+ <Entry>
+ <Index>#x60e0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a0f</Index>
+ <Name>Channel 16</Name>
+ <Entry>
+ <Index>#x60f0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000000</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x07463052" RevisionNo="#x0010000A">EL1862-0010</Type>
+ <Name LcId="1033"><![CDATA[EL1862-0010 16Ch. Dig. Input 24V, 3ms, negativ]]></Name>
+ <Name LcId="1031"><![CDATA[EL1862-0010 16K. Dig. Eingang 24V, 3ms, negative]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1862]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1862]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>100</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigIn</GroupType>
+ <Fmmu>Inputs</Fmmu>
+ <Sm DefaultSize="2" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a00</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a01</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a02</Index>
+ <Name>Channel 3</Name>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a03</Index>
+ <Name>Channel 4</Name>
+ <Entry>
+ <Index>#x6030</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a04</Index>
+ <Name>Channel 5</Name>
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+ <Index>#x6040</Index>
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+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
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+ <Name>Channel 6</Name>
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+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
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+ <DataType>BOOL</DataType>
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+ </TxPdo>
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+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
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+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
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+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
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+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
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+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
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+ <Name>Channel 13</Name>
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+ <Index>#x60c0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a0d</Index>
+ <Name>Channel 14</Name>
+ <Entry>
+ <Index>#x60d0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a0e</Index>
+ <Name>Channel 15</Name>
+ <Entry>
+ <Index>#x60e0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a0f</Index>
+ <Name>Channel 16</Name>
+ <Entry>
+ <Index>#x60f0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000000</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x07503052" RevisionNo="#x00100000">EL1872</Type>
+ <Name LcId="1033"><![CDATA[EL1872 16Ch. Dig. Input 24V, 10µs]]></Name>
+ <Name LcId="1031"><![CDATA[EL1872 16K. Dig. Eingang 24V, 10µs]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1872]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1872]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>100</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigIn</GroupType>
+ <Fmmu>Inputs</Fmmu>
+ <Sm DefaultSize="2" StartAddress="#x1000" ControlByte="0" Enable="1">Inputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a00</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a01</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a02</Index>
+ <Name>Channel 3</Name>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a03</Index>
+ <Name>Channel 4</Name>
+ <Entry>
+ <Index>#x6030</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a04</Index>
+ <Name>Channel 5</Name>
+ <Entry>
+ <Index>#x6040</Index>
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+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
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+ <Name>Channel 6</Name>
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+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
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+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
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+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a08</Index>
+ <Name>Channel 9</Name>
+ <Entry>
+ <Index>#x6080</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a09</Index>
+ <Name>Channel 10</Name>
+ <Entry>
+ <Index>#x6090</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a0a</Index>
+ <Name>Channel 11</Name>
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+ <Index>#x60a0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
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+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a0c</Index>
+ <Name>Channel 13</Name>
+ <Entry>
+ <Index>#x60c0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a0d</Index>
+ <Name>Channel 14</Name>
+ <Entry>
+ <Index>#x60d0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a0e</Index>
+ <Name>Channel 15</Name>
+ <Entry>
+ <Index>#x60e0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a0f</Index>
+ <Name>Channel 16</Name>
+ <Entry>
+ <Index>#x60f0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000000</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x07613052" RevisionNo="#x00100000">EL1889</Type>
+ <Name LcId="1033"><![CDATA[EL1889 16Ch. Dig. Input 24V, 3ms, negative]]></Name>
+ <Name LcId="1031"><![CDATA[EL1889 16K. Dig. Eingang 24V, 3ms, negativ]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL1889]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL1889]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>140</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigIn</GroupType>
+ <Fmmu>Inputs</Fmmu>
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+ <DataType>BOOL</DataType>
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+ <Name>Channel 10</Name>
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+ <DataType>BOOL</DataType>
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+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a0a</Index>
+ <Name>Channel 11</Name>
+ <Entry>
+ <Index>#x60a0</Index>
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+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a0b</Index>
+ <Name>Channel 12</Name>
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+ <DataType>BOOL</DataType>
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+ <DataType>BOOL</DataType>
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+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a0d</Index>
+ <Name>Channel 14</Name>
+ <Entry>
+ <Index>#x60d0</Index>
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+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a0e</Index>
+ <Name>Channel 15</Name>
+ <Entry>
+ <Index>#x60e0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1a0f</Index>
+ <Name>Channel 16</Name>
+ <Entry>
+ <Index>#x60f0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Input</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000000</ConfigData>
+ </Eeprom>
+ </Device>
+ </Devices>
+ </Descriptions>
+</EtherCATInfo>
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ethercat_tests/wago_higen/ethercat@etherlab/modules/Beckhoff EL2xxx.xml Sun Apr 01 16:36:41 2012 +0200
@@ -0,0 +1,92654 @@
+<?xml version="1.0"?>
+<EtherCATInfo xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd" Version="1.2">
+ <Vendor>
+ <Id>2</Id>
+ <Name>Beckhoff Automation GmbH</Name>
+ <ImageData16x14>424DE6000000000000007600000028000000100000000E000000010004000000000070000000120B0000120B0000100000001000000000000000000080000080000000808000800000008000800080800000C0C0C000808080000000FF0000FF000000FFFF00FF000000FF00FF00FFFF0000FFFFFF009D9DD99DD9DDD9DD9D9D9DD9D9DDD9DD999D9DD9D999D9999D9D9DD9D9DDD9DD9D9DD99DD999D999DDDDDDDDDDDDDDDD88888888888888888888888888888888DDDDDDDDDDDDDDDD999D999DD99DD9D99D9D9DDD9DD9D9D999DD999D9DDDD99D9D9D9DDD9DD9D99D999D999DD99DD9D9</ImageData16x14>
+ </Vendor>
+ <Descriptions>
+ <Groups>
+ <Group SortOrder="320">
+ <Type>DigOut</Type>
+ <Name LcId="1033">Digital Output Terminals (EL2xxx)</Name>
+ <Name LcId="1031">Digitale Ausgangklemmen (EL2xxx)</Name>
+ <ImageData16x14>424DD6020000000000003600000028000000100000000E0000000100180000000000A0020000120B0000120B00000000000000000000FF00FFFF00FFFF00FFFF00FFFF00FFFF00FF808080808080808080808080808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C000FFFFC0C0C000FFFF808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0FF0000C0C0C0FF0000808080FF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFFF00FFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FF0000FF0000FF0000FF0000FF0000FF0000FFC0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FF0000FF0000FF0000FF0000FF0000FF0000FFC0C0C00000FFC0C0C00000FF808080FF00FFFF00FFFF00FFFF00FFFF00FF0000FF0000FF0000FF0000FF0000FF0000FFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FF0000FF0000FF0000FF0000FF0000FF0000FFC0C0C0000000C0C0C0000000808080FF00FFFF00FFFF00FFFF00FFFF00FF0000FF0000FF0000FF0000FF0000FF0000FFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FF0000FF0000FF0000FF0000FF0000FF0000FFC0C0C0008000C0C0C0008000808080FF00FFFF00FFFF00FFFF00FFFF00FF0000FF0000FF0000FF0000FF0000FF0000FFC0C0C0C0C0C0C0C0C0C0C0C0808080FF00FFFF00FFFF00FFFF00FFFF00FF</ImageData16x14>
+ </Group>
+ </Groups>
+ <Devices>
+ <Device Physics="KK">
+ <Type ProductCode="#x07d23052" RevisionNo="#x00000000">EL2002</Type>
+ <HideType RevisionNo="#x27070000" ProductRevision="EL2002-0000-9991"/>
+ <HideType RevisionNo="#x27080000" ProductRevision="EL2002-0000-9992"/>
+ <HideType RevisionNo="#x270b0000" ProductRevision="EL2002-0000-9995"/>
+ <Name LcId="1033"><![CDATA[EL2002 2Ch. Dig. Output 24V, 0.5A]]></Name>
+ <Name LcId="1031"><![CDATA[EL2002 2K. Dig. Ausgang 24V, 0.5A]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2002]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2002]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>130</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Fmmu OpOnly="1">Outputs</Fmmu>
+ <Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1600</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x3001</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1601</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x3001</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0201</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x07d23052" RevisionNo="#x00100000">EL2002</Type>
+ <HideType RevisionNo="#x00000000" ProductRevision="EL2002-0000-0000"/>
+ <Name LcId="1033"><![CDATA[EL2002 2Ch. Dig. Output 24V, 0.5A]]></Name>
+ <Name LcId="1031"><![CDATA[EL2002 2K. Dig. Ausgang 24V, 0.5A]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2002]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2002]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>100</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Fmmu OpOnly="1">Outputs</Fmmu>
+ <Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1600</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1601</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000f00</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x07d43052" RevisionNo="#x00000000">EL2004</Type>
+ <HideType RevisionNo="#x27070000" ProductRevision="EL2004-0000-9991"/>
+ <HideType RevisionNo="#x27080000" ProductRevision="EL2004-0000-9992"/>
+ <HideType RevisionNo="#x270b0000" ProductRevision="EL2004-0000-9995"/>
+ <Name LcId="1033"><![CDATA[EL2004 4Ch. Dig. Output 24V, 0.5A]]></Name>
+ <Name LcId="1031"><![CDATA[EL2004 4K. Dig. Ausgang 24V, 0.5A]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2004]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2004]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>130</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Fmmu OpOnly="1">Outputs</Fmmu>
+ <Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1600</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x3001</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1601</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x3001</Index>
+ <SubIndex>2</SubIndex>
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+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1602</Index>
+ <Name>Channel 3</Name>
+ <Entry>
+ <Index>#x3001</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1603</Index>
+ <Name>Channel 4</Name>
+ <Entry>
+ <Index>#x3001</Index>
+ <SubIndex>4</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0201</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x07d43052" RevisionNo="#x00100000">EL2004</Type>
+ <HideType RevisionNo="#x00000000" ProductRevision="EL2004-0000-0000"/>
+ <Name LcId="1033"><![CDATA[EL2004 4Ch. Dig. Output 24V, 0.5A]]></Name>
+ <Name LcId="1031"><![CDATA[EL2004 4K. Dig. Ausgang 24V, 0.5A]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2004]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2004]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>100</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Fmmu OpOnly="1">Outputs</Fmmu>
+ <Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+ <Su FrameRepeatSupport="1"/>
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+ <Name>Channel 1</Name>
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+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
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+ <Index>#x1601</Index>
+ <Name>Channel 2</Name>
+ <Entry>
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+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
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+ <Name>Channel 3</Name>
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+ <SubIndex>1</SubIndex>
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+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
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+ <Name>Channel 4</Name>
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+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000f00</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x07d83052" RevisionNo="#x00100000">EL2008</Type>
+ <Name LcId="1033"><![CDATA[EL2008 8Ch. Dig. Output 24V, 0.5A]]></Name>
+ <Name LcId="1031"><![CDATA[EL2008 8K. Dig. Ausgang 24V, 0.5A]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2008]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2008]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>110</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Fmmu OpOnly="1">Outputs</Fmmu>
+ <Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1600</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1601</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1602</Index>
+ <Name>Channel 3</Name>
+ <Entry>
+ <Index>#x7020</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1603</Index>
+ <Name>Channel 4</Name>
+ <Entry>
+ <Index>#x7030</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1604</Index>
+ <Name>Channel 5</Name>
+ <Entry>
+ <Index>#x7040</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1605</Index>
+ <Name>Channel 6</Name>
+ <Entry>
+ <Index>#x7050</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1606</Index>
+ <Name>Channel 7</Name>
+ <Entry>
+ <Index>#x7060</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1607</Index>
+ <Name>Channel 8</Name>
+ <Entry>
+ <Index>#x7070</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000f00</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x07e63052" RevisionNo="#x00100000">EL2022</Type>
+ <Name LcId="1033"><![CDATA[EL2022 2Ch. Dig. Output 24V, 2A]]></Name>
+ <Name LcId="1031"><![CDATA[EL2022 2K. Dig. Ausgang 24V, 2A]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2202]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2202]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>100</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Fmmu OpOnly="1">Outputs</Fmmu>
+ <Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1600</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1601</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000f00</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x07e83052" RevisionNo="#x00100000">EL2024</Type>
+ <Name LcId="1033"><![CDATA[EL2024 4Ch. Dig. Output 24V, 2A]]></Name>
+ <Name LcId="1031"><![CDATA[EL2024 4K. Dig. Ausgang 24V, 2A]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2024]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2024]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>120</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Fmmu OpOnly="1">Outputs</Fmmu>
+ <Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1600</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1601</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1602</Index>
+ <Name>Channel 3</Name>
+ <Entry>
+ <Index>#x7020</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1603</Index>
+ <Name>Channel 4</Name>
+ <Entry>
+ <Index>#x7030</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000f00</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x07e83052" RevisionNo="#x0010000A">EL2024-0010</Type>
+ <Name LcId="1033"><![CDATA[EL2024-0010 4Ch. Dig. Output 12V, 2A]]></Name>
+ <Name LcId="1031"><![CDATA[EL2024-0010 4K. Dig. Ausgang 12V, 2A]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2024]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2024]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>120</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Fmmu OpOnly="1">Outputs</Fmmu>
+ <Sm DefaultSize="1" StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1600</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1601</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1602</Index>
+ <Name>Channel 3</Name>
+ <Entry>
+ <Index>#x7020</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1603</Index>
+ <Name>Channel 4</Name>
+ <Entry>
+ <Index>#x7030</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000f00</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x07f03052" RevisionNo="#x00000000">EL2032</Type>
+ <HideType RevisionNo="#x27070000" ProductRevision="EL2032-0000-9991"/>
+ <HideType RevisionNo="#x27080000" ProductRevision="EL2032-0000-9992"/>
+ <HideType RevisionNo="#x270b0000" ProductRevision="EL2032-0000-9995"/>
+ <Name LcId="1033"><![CDATA[EL2032 2Ch. Dig. Output 24V, 2A Diag]]></Name>
+ <Name LcId="1031"><![CDATA[EL2032 2K. Dig. Ausgang 24V, 2A Diag]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2032]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2032]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>120</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Fmmu OpOnly="1">Outputs</Fmmu>
+ <Fmmu>Inputs</Fmmu>
+ <Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+ <Sm StartAddress="#x1000" ControlByte="0" Enable="0">Inputs</Sm>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1600</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x3001</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1601</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x3001</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x1a00</Index>
+ <Name>Diag 1</Name>
+ <Entry>
+ <Index>#x3101</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Diag</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x1a01</Index>
+ <Name>Diag 2</Name>
+ <Entry>
+ <Index>#x3101</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Diag</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0301</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x07f03052" RevisionNo="#x00100000">EL2032</Type>
+ <HideType RevisionNo="#x00000000" ProductRevision="EL2032-0000-0000"/>
+ <Name LcId="1033"><![CDATA[EL2032 2Ch. Dig. Output 24V, 2A, Diagnostic]]></Name>
+ <Name LcId="1031"><![CDATA[EL2032 2K. Dig. Ausgang 24V, 2A, Diagnose]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2032]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2032]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>100</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Fmmu OpOnly="1">Outputs</Fmmu>
+ <Fmmu>Inputs</Fmmu>
+ <Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+ <Sm StartAddress="#x1000" ControlByte="0" Enable="0">Inputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1600</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1601</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x1a00</Index>
+ <Name>Diag 1</Name>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Diag</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x1a01</Index>
+ <Name>Diag 2</Name>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Diag</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>04010400</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x07f23052" RevisionNo="#x00100000">EL2034</Type>
+ <Name LcId="1033"><![CDATA[EL2034 4Ch. Dig. Output 24V, 2A, Diagnostic]]></Name>
+ <Name LcId="1031"><![CDATA[EL2034 4K. Dig. Ausgang 24V, 2A, Diagnose]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2034]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2034]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>120</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Fmmu OpOnly="1">Outputs</Fmmu>
+ <Fmmu>Inputs</Fmmu>
+ <Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+ <Sm StartAddress="#x1001" ControlByte="0" Enable="0">Inputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1600</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1601</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1602</Index>
+ <Name>Channel 3</Name>
+ <Entry>
+ <Index>#x7020</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1603</Index>
+ <Name>Channel 4</Name>
+ <Entry>
+ <Index>#x7030</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x1a00</Index>
+ <Name>Diag 1</Name>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Diag</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x1a01</Index>
+ <Name>Diag 2</Name>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Diag</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x1a02</Index>
+ <Name>Diag 3</Name>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Diag</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x1a03</Index>
+ <Name>Diag 4</Name>
+ <Entry>
+ <Index>#x6030</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Diag</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000f00</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x07fa3052" RevisionNo="#x00100000">EL2042</Type>
+ <Name LcId="1033"><![CDATA[EL2042 2Ch. Dig. Output 24V, 4A]]></Name>
+ <Name LcId="1031"><![CDATA[EL2042 2K. Dig. Ausgang 24V, 4A]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2042]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2042]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>120</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Fmmu OpOnly="1">Outputs</Fmmu>
+ <Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1600</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1601</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000f00</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x08243052" RevisionNo="#x00100000">EL2084</Type>
+ <Name LcId="1033"><![CDATA[EL2084 4Ch. Dig. Output 24V, 0.5A, switching to negative]]></Name>
+ <Name LcId="1031"><![CDATA[EL2084 4K. Dig. Ausgang 24V, 0.5A, negativ schaltend]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2084]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2084]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>100</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Fmmu OpOnly="1">Outputs</Fmmu>
+ <Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1600</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1601</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1602</Index>
+ <Name>Channel 3</Name>
+ <Entry>
+ <Index>#x7020</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1603</Index>
+ <Name>Channel 4</Name>
+ <Entry>
+ <Index>#x7030</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000f00</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x08283052" RevisionNo="#x00100000">EL2088</Type>
+ <Name LcId="1033"><![CDATA[EL2088 8Ch. Dig. Output 24V, 0.5A, switching to negative]]></Name>
+ <Name LcId="1031"><![CDATA[EL2088 8K. Dig. Ausgang 24V, 0.5A, negativ schaltend]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2088]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2088]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>110</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Fmmu OpOnly="1">Outputs</Fmmu>
+ <Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1600</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1601</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1602</Index>
+ <Name>Channel 3</Name>
+ <Entry>
+ <Index>#x7020</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1603</Index>
+ <Name>Channel 4</Name>
+ <Entry>
+ <Index>#x7030</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1604</Index>
+ <Name>Channel 5</Name>
+ <Entry>
+ <Index>#x7040</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1605</Index>
+ <Name>Channel 6</Name>
+ <Entry>
+ <Index>#x7050</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1606</Index>
+ <Name>Channel 7</Name>
+ <Entry>
+ <Index>#x7060</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1607</Index>
+ <Name>Channel 8</Name>
+ <Entry>
+ <Index>#x7070</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000f00</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x084c3052" RevisionNo="#x00100000">EL2124</Type>
+ <Name LcId="1033"><![CDATA[EL2124 4Ch. Dig. Output 5V, 20mA]]></Name>
+ <Name LcId="1031"><![CDATA[EL2124 4K. Dig. Ausgang 5V, 20mA]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2124]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2124]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>130</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Fmmu OpOnly="1">Outputs</Fmmu>
+ <Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1600</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1601</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1602</Index>
+ <Name>Channel 3</Name>
+ <Entry>
+ <Index>#x7020</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1603</Index>
+ <Name>Channel 4</Name>
+ <Entry>
+ <Index>#x7030</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000f00</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x089A3052" RevisionNo="#x00000000">EL2202</Type>
+ <Name LcId="1033"><![CDATA[EL2202 2Ch. Dig. Output 24V, 0.5A, DC Sync]]></Name>
+ <Name LcId="1031"><![CDATA[EL2202 2K. Dig. Ausgang 24V, 0.5A, DC Sync]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2202]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2202]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>130</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Fmmu OpOnly="true" Sm="0" Su="0">Outputs</Fmmu>
+ <Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
+ <Index>#x1600</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x3001</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
+ <Index>#x1601</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x3001</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <Dc>
+ <OpMode>
+ <Name>DcOff</Name>
+ <Desc>DC unused</Desc>
+ <AssignActivate>#x0000</AssignActivate>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync</Name>
+ <Desc>DC Sync Settings</Desc>
+ <AssignActivate>#x0300</AssignActivate>
+ <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ </OpMode>
+ </Dc>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0201</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x089A3052" RevisionNo="#x00100000">EL2202</Type>
+ <HideType RevisionNo="#x00000000" ProductRevision="EL2202-0000-0000"/>
+ <AlternativeType RevisionNo="#x00100064"/>
+ <Name LcId="1033"><![CDATA[EL2202 2Ch. Dig. Output 24V, 0.5A]]></Name>
+ <Name LcId="1031"><![CDATA[EL2202 2K. Dig. Ausgang 24V, 0.5A]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2202]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2202]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>130</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Fmmu OpOnly="true" Sm="0" Su="0">Outputs</Fmmu>
+ <Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
+ <Index>#x1600</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>TriState</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
+ <Index>#x1601</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>TriState</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>040100000000FFFF</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x089A3052" RevisionNo="#x00100064">EL2202-0100</Type>
+ <AlternativeType RevisionNo="#x00100000"/>
+ <Name LcId="1033"><![CDATA[EL2202-0100 2Ch. Dig. Output 24V, 0.5A, DC Sync]]></Name>
+ <Name LcId="1031"><![CDATA[EL2202-0100 2K. Dig. Ausgang 24V, 0.5A, DC Sync]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2202]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2202]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>130</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Fmmu OpOnly="true" Sm="0" Su="0">Outputs</Fmmu>
+ <Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
+ <Index>#x1600</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>TriState</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
+ <Index>#x1601</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>TriState</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <Dc>
+ <OpMode>
+ <Name>DcSync</Name>
+ <Desc>DC Sync Settings</Desc>
+ <AssignActivate>#x0300</AssignActivate>
+ <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ </OpMode>
+ </Dc>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>04018000000AFFFF</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x08CC3052" RevisionNo="#x00000000">EL2252</Type>
+ <Name LcId="1033"><![CDATA[EL2252 2Ch. Dig. Output 24V, 0.5A, DC Time Stamp]]></Name>
+ <Name LcId="1031"><![CDATA[EL2252 2K. Dig. Ausgang 24V, 0.5A, DC Time Stamp]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2252]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2252]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>130</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Fmmu OpOnly="true" Sm="0" Su="0">Outputs</Fmmu>
+ <Fmmu Sm="1" Su="1">Outputs</Fmmu>
+ <Fmmu Sm="2" Su="2">Outputs</Fmmu>
+ <Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+ <Sm StartAddress="#x0981" Virtual="true">Outputs</Sm>
+ <Sm StartAddress="#x0990" Virtual="true">Outputs</Sm>
+ <RxPdo Fixed="1" Sm="1" Su="1" Virtual="true">
+ <Index>#x1610</Index>
+ <Name>DC Sync Activate</Name>
+ <Entry>
+ <Index>#x1d09</Index>
+ <SubIndex>#x81</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Activate</Name>
+ <DataType>USINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Sm="2" Su="2" Virtual="true">
+ <Index>#x1611</Index>
+ <Name>DC Sync Start</Name>
+ <Entry>
+ <Index>#x1d09</Index>
+ <SubIndex>#x90</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>StartTime</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
+ <Index>#x1600</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x3001</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0" Su="0">
+ <Index>#x1601</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x3001</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <Dc>
+ <OpMode>
+ <Name>DcTimeStamp</Name>
+ <Desc>DC Time Stamp Settings</Desc>
+ <AssignActivate>#x0300</AssignActivate>
+ <CycleTimeSync0 Factor="0">2000000000</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ </OpMode>
+ </Dc>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>04018000e8030100</ConfigData>
+ </Eeprom>
+ <VendorSpecific>
+ <TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
+ </VendorSpecific>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x08CC3052" RevisionNo="#x00100000">EL2252</Type>
+ <HideType RevisionNo="#x00000000" ProductRevision="EL2252-0000-0000"/>
+ <Name LcId="1033"><![CDATA[EL2252 2Ch. Dig. Output 24V, 0.5A, DC Time Stamp]]></Name>
+ <Name LcId="1031"><![CDATA[EL2252 2K. Dig. Ausgang 24V, 0.5A, DC Time Stamp]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2252]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2252]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>130</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Fmmu Sm="0" Su="0">Outputs</Fmmu>
+ <Fmmu Sm="1" Su="1">Outputs</Fmmu>
+ <Fmmu Sm="2" Su="2" OpOnly="true">Outputs</Fmmu>
+ <Sm StartAddress="#x0981" Virtual="true">Outputs</Sm>
+ <Sm StartAddress="#x0990" Virtual="true">Outputs</Sm>
+ <Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+ <Sm StartAddress="#x0910" Virtual="true">Inputs</Sm>
+ <RxPdo Fixed="1" Sm="0" Su="0" Virtual="true">
+ <Index>#x1610</Index>
+ <Name>DC Sync Activate</Name>
+ <Entry>
+ <Index>#x1d09</Index>
+ <SubIndex>#x81</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Activate</Name>
+ <DataType>USINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Sm="1" Su="1" Virtual="true">
+ <Index>#x1611</Index>
+ <Name>DC Sync Start</Name>
+ <Entry>
+ <Index>#x1d09</Index>
+ <SubIndex>#x90</SubIndex>
+ <BitLen>64</BitLen>
+ <Name>StartTime</Name>
+ <DataType>ULINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>0</Index>
+ <BitLen>16</BitLen>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="2" Su="2">
+ <Index>#x1600</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x3001</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="2" Su="2">
+ <Index>#x1601</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x3001</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <TxPdo Fixed="1" Su="0" Virtual="true">
+ <Index>#x1a00</Index>
+ <Name>SysTime</Name>
+ <Entry>
+ <Index>#x1d09</Index>
+ <SubIndex>#x10</SubIndex>
+ <BitLen>64</BitLen>
+ <Name>SysTime</Name>
+ <DataType>ULINT</DataType>
+ </Entry>
+ </TxPdo>
+ <Dc>
+ <OpMode>
+ <Name>DcTimeStamp</Name>
+ <Desc>DC Time Stamp Settings</Desc>
+ <AssignActivate>#x0300</AssignActivate>
+ <CycleTimeSync0 Factor="0">2000000000</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ </OpMode>
+ </Dc>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>04018000e8030100</ConfigData>
+ </Eeprom>
+ <VendorSpecific>
+ <TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
+ </VendorSpecific>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x08CC3052" RevisionNo="#x00110000">EL2252</Type>
+ <HideType RevisionNo="#x00100000" ProductRevision="EL2252-0000-0016"/>
+ <Name LcId="1033"><![CDATA[EL2252 2Ch. Dig. Output 24V, 0.5A, DC Time Stamp]]></Name>
+ <Name LcId="1031"><![CDATA[EL2252 2K. Dig. Ausgang 24V, 0.5A, DC Time Stamp]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2252]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2252]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>130</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Fmmu Sm="0" Su="0">Outputs</Fmmu>
+ <Fmmu Sm="1" Su="1">Outputs</Fmmu>
+ <Fmmu Sm="2" Su="2" OpOnly="true">Outputs</Fmmu>
+ <Sm StartAddress="#x0981" Virtual="true">Outputs</Sm>
+ <Sm StartAddress="#x0990" Virtual="true">Outputs</Sm>
+ <Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+ <Sm StartAddress="#x0910" Virtual="true">Inputs</Sm>
+ <RxPdo Fixed="1" Sm="0" Su="0" Virtual="true">
+ <Index>#x1602</Index>
+ <Name>DC Sync Activate</Name>
+ <Entry>
+ <Index>#x1d09</Index>
+ <SubIndex>#x81</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Activate</Name>
+ <DataType>USINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Sm="1" Su="1" Virtual="true">
+ <Index>#x1603</Index>
+ <Name>DC Sync Start</Name>
+ <Entry>
+ <Index>#x1d09</Index>
+ <SubIndex>#x90</SubIndex>
+ <BitLen>64</BitLen>
+ <Name>StartTime</Name>
+ <DataType>ULINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Sm="2" Su="2" Mandatory="1">
+ <Index>#x1600</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>TriState</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Sm="2" Su="2" Mandatory="1">
+ <Index>#x1601</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>TriState</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>0</Index>
+ <BitLen>4</BitLen>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Sm="2" Su="2" Mandatory="1">
+ <Index>#x1602</Index>
+ <Name>Reserved</Name>
+ </RxPdo>
+ <TxPdo Fixed="1" Su="0" Virtual="true">
+ <Index>#x1a00</Index>
+ <Name>SysTime</Name>
+ <Entry>
+ <Index>#x1d09</Index>
+ <SubIndex>#x10</SubIndex>
+ <BitLen>64</BitLen>
+ <Name>SysTime</Name>
+ <DataType>ULINT</DataType>
+ </Entry>
+ </TxPdo>
+ <Dc>
+ <OpMode>
+ <Name>DcTimeStamp</Name>
+ <Desc>DC Time Stamp Settings</Desc>
+ <AssignActivate>#x0300</AssignActivate>
+ <CycleTimeSync0 Factor="0">2000000000</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ </OpMode>
+ </Dc>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>04018000e803FFFF</ConfigData>
+ </Eeprom>
+ <VendorSpecific>
+ <TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
+ </VendorSpecific>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x08CC3052" RevisionNo="#x00120000">EL2252</Type>
+ <HideType RevisionNo="#x00110000" ProductRevision="EL2252-0000-0011"/>
+ <Name LcId="1033"><![CDATA[EL2252 2Ch. Dig. Output 24V, 0.5A, DC Time Stamp]]></Name>
+ <Name LcId="1031"><![CDATA[EL2252 2K. Dig. Ausgang 24V, 0.5A, DC Time Stamp]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2252]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2252]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>130</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Fmmu Sm="0" Su="0">Outputs</Fmmu>
+ <Fmmu Sm="1" Su="1">Outputs</Fmmu>
+ <Fmmu Sm="2" Su="2" OpOnly="true">Outputs</Fmmu>
+ <Sm StartAddress="#x0981" Virtual="true">Outputs</Sm>
+ <Sm StartAddress="#x0990" Virtual="true">Outputs</Sm>
+ <Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+ <Sm StartAddress="#x0910" Virtual="true">Inputs</Sm>
+ <Sm StartAddress="#x1000" Virtual="true">Inputs</Sm>
+ <RxPdo Fixed="1" Sm="0" Su="0" Virtual="true">
+ <Index>#x1602</Index>
+ <Name>DC Sync Activate</Name>
+ <Entry>
+ <Index>#x1d09</Index>
+ <SubIndex>#x81</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Activate</Name>
+ <DataType>USINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Sm="1" Su="1" Virtual="true">
+ <Index>#x1603</Index>
+ <Name>DC Sync Start</Name>
+ <Entry>
+ <Index>#x1d09</Index>
+ <SubIndex>#x90</SubIndex>
+ <BitLen>64</BitLen>
+ <Name>StartTime</Name>
+ <DataType>ULINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Sm="2" Su="2" Mandatory="1">
+ <Index>#x1600</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>TriState</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Sm="2" Su="2" Mandatory="1">
+ <Index>#x1601</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>TriState</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>0</Index>
+ <BitLen>4</BitLen>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Sm="2" Su="2" Mandatory="1">
+ <Index>#x1604</Index>
+ <Name>Reserved</Name>
+ </RxPdo>
+ <TxPdo Fixed="1" Su="0" Virtual="true">
+ <Index>#x1a00</Index>
+ <Name>SysTime</Name>
+ <Entry>
+ <Index>#x1d09</Index>
+ <SubIndex>#x10</SubIndex>
+ <BitLen>64</BitLen>
+ <Name>SysTime</Name>
+ <DataType>ULINT</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Su="1" Virtual="true">
+ <Index>#x1a01</Index>
+ <Name>Feedback</Name>
+ <Entry>
+ <Index>#x1d09</Index>
+ <SubIndex>#x11</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Feedback</Name>
+ <Comment>Bit 0: Output 1
+Bit 1: Tristate 1
+Bit 2: Output 2
+Bit 3: Tristate 2</Comment>
+ <DataType>USINT</DataType>
+ </Entry>
+ </TxPdo>
+ <Dc>
+ <OpMode>
+ <Name>DcTimeStamp</Name>
+ <Desc>DC Time Stamp Settings</Desc>
+ <AssignActivate>#x0300</AssignActivate>
+ <CycleTimeSync0 Factor="0">2000000000</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ </OpMode>
+ </Dc>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>04018000e803FFFF</ConfigData>
+ </Eeprom>
+ <VendorSpecific>
+ <TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
+ </VendorSpecific>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x08D63052" RevisionNo="#x00000000">EL2262</Type>
+ <Name LcId="1033"><![CDATA[EL2262 2Ch. Dig. Output 24V, 0.5A, DC Over Sampling]]></Name>
+ <Name LcId="1031"><![CDATA[EL2262 2K. Dig. Ausgang 24V, 0.5A, DC Over Sampling]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2262]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2262]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>130</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Fmmu OpOnly="true" Sm="0" Su="0">Outputs</Fmmu>
+ <Sm StartAddress="#x1000" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+ <RxPdo Fixed="1" Sm="0">
+ <Index>#x1680</Index>
+ <Name>Cycle Counter</Name>
+ <Entry>
+ <Index>#x7800</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Cycle Counter</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Sm="0" OSFac="10" OSMin="1" OSMax="100" OSIndexInc="8">
+ <Index>#x1600</Index>
+ <Name>Sample</Name>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Output</Name>
+ <DataType>BYTE</DataType>
+ </Entry>
+ </RxPdo>
+ <Dc>
+ <OpMode>
+ <Name>DcSync</Name>
+ <Desc>No oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-1">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1680</Pdo>
+ <Pdo OSFac="1">#x1600</Pdo>
+ </Sm>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync2</Name>
+ <Desc>2 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-2">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1680</Pdo>
+ <Pdo OSFac="2">#x1600</Pdo>
+ </Sm>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync3</Name>
+ <Desc>3 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-3">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1680</Pdo>
+ <Pdo OSFac="3">#x1600</Pdo>
+ </Sm>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync4</Name>
+ <Desc>4 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-4">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1680</Pdo>
+ <Pdo OSFac="4">#x1600</Pdo>
+ </Sm>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync5</Name>
+ <Desc>5 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-5">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1680</Pdo>
+ <Pdo OSFac="5">#x1600</Pdo>
+ </Sm>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync8</Name>
+ <Desc>8 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-8">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1680</Pdo>
+ <Pdo OSFac="8">#x1600</Pdo>
+ </Sm>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync10</Name>
+ <Desc>10 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-10">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1680</Pdo>
+ <Pdo OSFac="10">#x1600</Pdo>
+ </Sm>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync16</Name>
+ <Desc>16 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-16">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1680</Pdo>
+ <Pdo OSFac="16">#x1600</Pdo>
+ </Sm>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync20</Name>
+ <Desc>20 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-20">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1680</Pdo>
+ <Pdo OSFac="20">#x1600</Pdo>
+ </Sm>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync25</Name>
+ <Desc>25 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-25">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1680</Pdo>
+ <Pdo OSFac="25">#x1600</Pdo>
+ </Sm>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync50</Name>
+ <Desc>50 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-50">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1680</Pdo>
+ <Pdo OSFac="50">#x1600</Pdo>
+ </Sm>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync100</Name>
+ <Desc>100 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-100">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1680</Pdo>
+ <Pdo OSFac="100">#x1600</Pdo>
+ </Sm>
+ </OpMode>
+ </Dc>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0601000010000100</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x08D63052" RevisionNo="#x00010000">EL2262</Type>
+ <HideType RevisionNo="#x00000000" ProductRevision="EL2262-0000-0000"/>
+ <Name LcId="1033"><![CDATA[EL2262 2Ch. Dig. Output 24V, 0.5A, DC Over Sampling]]></Name>
+ <Name LcId="1031"><![CDATA[EL2262 2K. Dig. Ausgang 24V, 0.5A, DC Over Sampling]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2262]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2262]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>130</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Fmmu OpOnly="true" Sm="0" Su="0">Outputs</Fmmu>
+ <Fmmu OpOnly="true" Sm="1" Su="1">Outputs</Fmmu>
+ <Sm StartAddress="#x1000" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+ <Sm StartAddress="#x1200" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+ <Su/>
+ <Su/>
+ <RxPdo Fixed="1" Sm="0" Su="0">
+ <Index>#x1700</Index>
+ <Name>CycCount0</Name>
+ <Entry>
+ <Index>#x7800</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Cycle Counter</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Sm="0" Su="0" OSFac="10" OSMin="1" OSMax="100" OSIndexInc="8">
+ <Index>#x1600</Index>
+ <Name>Sample0</Name>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output0</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Sm="0" Su="0">
+ <Index>#x1710</Index>
+ <Name>Gap</Name>
+ <Entry>
+ <Index>0</Index>
+ <BitLen>1</BitLen>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Sm="0" Su="0">
+ <Index>#x1711</Index>
+ <Name>Gap</Name>
+ <Entry>
+ <Index>0</Index>
+ <BitLen>2</BitLen>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Sm="0" Su="0">
+ <Index>#x1712</Index>
+ <Name>Gap</Name>
+ <Entry>
+ <Index>0</Index>
+ <BitLen>3</BitLen>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Sm="0" Su="0">
+ <Index>#x1713</Index>
+ <Name>Gap</Name>
+ <Entry>
+ <Index>0</Index>
+ <BitLen>4</BitLen>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Sm="0" Su="0">
+ <Index>#x1714</Index>
+ <Name>Gap</Name>
+ <Entry>
+ <Index>0</Index>
+ <BitLen>5</BitLen>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Sm="0" Su="0">
+ <Index>#x1715</Index>
+ <Name>Gap</Name>
+ <Entry>
+ <Index>0</Index>
+ <BitLen>6</BitLen>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Sm="0" Su="0">
+ <Index>#x1716</Index>
+ <Name>Gap</Name>
+ <Entry>
+ <Index>0</Index>
+ <BitLen>7</BitLen>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Sm="1" Su="1">
+ <Index>#x1701</Index>
+ <Name>CycCount1</Name>
+ <Entry>
+ <Index>#x7800</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Cycle Counter</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Sm="1" Su="1" OSFac="10" OSMin="1" OSMax="100" OSIndexInc="8">
+ <Index>#x1680</Index>
+ <Name>Sample1</Name>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output1</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Sm="1" Su="1">
+ <Index>#x1718</Index>
+ <Name>Gap</Name>
+ <Entry>
+ <Index>0</Index>
+ <BitLen>1</BitLen>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Sm="1" Su="1">
+ <Index>#x1719</Index>
+ <Name>Gap</Name>
+ <Entry>
+ <Index>0</Index>
+ <BitLen>2</BitLen>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Sm="1" Su="1">
+ <Index>#x171a</Index>
+ <Name>Gap</Name>
+ <Entry>
+ <Index>0</Index>
+ <BitLen>3</BitLen>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Sm="1" Su="1">
+ <Index>#x171b</Index>
+ <Name>Gap</Name>
+ <Entry>
+ <Index>0</Index>
+ <BitLen>4</BitLen>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Sm="1" Su="1">
+ <Index>#x171c</Index>
+ <Name>Gap</Name>
+ <Entry>
+ <Index>0</Index>
+ <BitLen>5</BitLen>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Sm="1" Su="1">
+ <Index>#x171d</Index>
+ <Name>Gap</Name>
+ <Entry>
+ <Index>0</Index>
+ <BitLen>6</BitLen>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Sm="1" Su="1">
+ <Index>#x171e</Index>
+ <Name>Gap</Name>
+ <Entry>
+ <Index>0</Index>
+ <BitLen>7</BitLen>
+ </Entry>
+ </RxPdo>
+ <Dc>
+ <OpMode>
+ <Name>DcSync</Name>
+ <Desc>No oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-1">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1700</Pdo>
+ <Pdo OSFac="1">#x1600</Pdo>
+ <Pdo>#x1716</Pdo>
+ </Sm>
+ <Sm No="1">
+ <Pdo>#x1701</Pdo>
+ <Pdo OSFac="1">#x1680</Pdo>
+ <Pdo>#x171e</Pdo>
+ </Sm>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync2</Name>
+ <Desc>2 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-2">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1700</Pdo>
+ <Pdo OSFac="2">#x1600</Pdo>
+ <Pdo>#x1715</Pdo>
+ </Sm>
+ <Sm No="1">
+ <Pdo>#x1701</Pdo>
+ <Pdo OSFac="2">#x1680</Pdo>
+ <Pdo>#x171d</Pdo>
+ </Sm>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync3</Name>
+ <Desc>3 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-3">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1700</Pdo>
+ <Pdo OSFac="3">#x1600</Pdo>
+ <Pdo>#x1714</Pdo>
+ </Sm>
+ <Sm No="1">
+ <Pdo>#x1701</Pdo>
+ <Pdo OSFac="3">#x1680</Pdo>
+ <Pdo>#x171c</Pdo>
+ </Sm>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync4</Name>
+ <Desc>4 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-4">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1700</Pdo>
+ <Pdo OSFac="4">#x1600</Pdo>
+ <Pdo>#x1713</Pdo>
+ </Sm>
+ <Sm No="1">
+ <Pdo>#x1701</Pdo>
+ <Pdo OSFac="4">#x1680</Pdo>
+ <Pdo>#x171b</Pdo>
+ </Sm>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync5</Name>
+ <Desc>5 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-5">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1700</Pdo>
+ <Pdo OSFac="5">#x1600</Pdo>
+ <Pdo>#x1712</Pdo>
+ </Sm>
+ <Sm No="1">
+ <Pdo>#x1701</Pdo>
+ <Pdo OSFac="5">#x1680</Pdo>
+ <Pdo>#x171a</Pdo>
+ </Sm>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync8</Name>
+ <Desc>8 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-8">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1700</Pdo>
+ <Pdo OSFac="8">#x1600</Pdo>
+ </Sm>
+ <Sm No="1">
+ <Pdo>#x1701</Pdo>
+ <Pdo OSFac="8">#x1680</Pdo>
+ </Sm>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync10</Name>
+ <Desc>10 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-10">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1700</Pdo>
+ <Pdo OSFac="10">#x1600</Pdo>
+ <Pdo>#x1715</Pdo>
+ </Sm>
+ <Sm No="1">
+ <Pdo>#x1701</Pdo>
+ <Pdo OSFac="10">#x1680</Pdo>
+ <Pdo>#x171d</Pdo>
+ </Sm>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync16</Name>
+ <Desc>16 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-16">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1700</Pdo>
+ <Pdo OSFac="16">#x1600</Pdo>
+ </Sm>
+ <Sm No="1">
+ <Pdo>#x1701</Pdo>
+ <Pdo OSFac="16">#x1680</Pdo>
+ </Sm>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync20</Name>
+ <Desc>20 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-20">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1700</Pdo>
+ <Pdo OSFac="20">#x1600</Pdo>
+ <Pdo>#x1713</Pdo>
+ </Sm>
+ <Sm No="1">
+ <Pdo>#x1701</Pdo>
+ <Pdo OSFac="20">#x1680</Pdo>
+ <Pdo>#x171b</Pdo>
+ </Sm>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync25</Name>
+ <Desc>25 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-25">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1700</Pdo>
+ <Pdo OSFac="25">#x1600</Pdo>
+ <Pdo>#x1716</Pdo>
+ </Sm>
+ <Sm No="1">
+ <Pdo>#x1701</Pdo>
+ <Pdo OSFac="25">#x1680</Pdo>
+ <Pdo>#x171e</Pdo>
+ </Sm>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync40</Name>
+ <Desc>40 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-40">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1700</Pdo>
+ <Pdo OSFac="40">#x1600</Pdo>
+ </Sm>
+ <Sm No="1">
+ <Pdo>#x1701</Pdo>
+ <Pdo OSFac="40">#x1680</Pdo>
+ </Sm>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync50</Name>
+ <Desc>50 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-50">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1700</Pdo>
+ <Pdo OSFac="50">#x1600</Pdo>
+ <Pdo>#x1715</Pdo>
+ </Sm>
+ <Sm No="1">
+ <Pdo>#x1701</Pdo>
+ <Pdo OSFac="50">#x1680</Pdo>
+ <Pdo>#x171d</Pdo>
+ </Sm>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync100_1</Name>
+ <Desc>100 times oversampling (1Ch)</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-100">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
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+ <VendorSpecific>
+ <TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
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+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x08D63052" RevisionNo="#x00020000" TcSmClass="EL226X">EL2262</Type>
+ <HideType RevisionNo="#x00010000" ProductRevision="EL2262-0001-0000"/>
+ <Name LcId="1033"><![CDATA[EL2262 2Ch. Dig. Output 24V, 1µs, DC Oversample]]></Name>
+ <Name LcId="1031"><![CDATA[EL2262 2K. Dig. Ausgang 24V, 1µs, DC Oversample]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2262]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2262]]></URL>
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+ <EBusCurrent>070</EBusCurrent>
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+ <Name>DcSync2</Name>
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+ <AssignActivate>#x0730</AssignActivate>
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+ <TwinCAT IgnoreFromBuildNo="1506"/>
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+ <Name>DcSync3</Name>
+ <Desc>2 Ch. - 3 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
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+ <Name>DcSync4</Name>
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+ <AssignActivate>#x0730</AssignActivate>
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+ <TwinCAT IgnoreFromBuildNo="1506"/>
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+ <Name>DcSync5</Name>
+ <Desc>2 Ch. - 5 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
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+ <TwinCAT IgnoreFromBuildNo="1506"/>
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+ <OpMode>
+ <Name>DcSync8</Name>
+ <Desc>2 Ch. - 8 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
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+ <TwinCAT IgnoreFromBuildNo="1506"/>
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+ <Name>DcSync10</Name>
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+ <AssignActivate>#x0730</AssignActivate>
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+ <Name>DcSync16</Name>
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+ <AssignActivate>#x0730</AssignActivate>
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+ <Name>DcSync20</Name>
+ <Desc>2 Ch. - 20 times oversampling</Desc>
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+ <TwinCAT IgnoreFromBuildNo="1506"/>
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+ <OpMode>
+ <Name>DcSync40</Name>
+ <Desc>2 Ch. - 40 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
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+ <Name>DcSync50</Name>
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+ <AssignActivate>#x0730</AssignActivate>
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+ <Name>DcSync100</Name>
+ <Desc>2 Ch. - 100 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
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+ <Name>DcSync_1</Name>
+ <Desc>Channel 1 - No oversampling</Desc>
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+ <Name>DcSync2_1</Name>
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+ <AssignActivate>#x0730</AssignActivate>
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+ <Name>DcSync3_1</Name>
+ <Desc>1 Ch. - 3 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
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+ <Sm No="0">
+ <Pdo>#x1700</Pdo>
+ <Pdo OSFac="3">#x1600</Pdo>
+ <Pdo>#x1714</Pdo>
+ </Sm>
+ <Sm No="2">
+ <Pdo>#x1702</Pdo>
+ </Sm>
+ <VendorSpecific>
+ <TwinCAT IgnoreFromBuildNo="1506"/>
+ </VendorSpecific>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync4_1</Name>
+ <Desc>1 Ch. - 4 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-4">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1700</Pdo>
+ <Pdo OSFac="4">#x1600</Pdo>
+ <Pdo>#x1713</Pdo>
+ </Sm>
+ <Sm No="2">
+ <Pdo>#x1702</Pdo>
+ </Sm>
+ <VendorSpecific>
+ <TwinCAT IgnoreFromBuildNo="1506"/>
+ </VendorSpecific>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync5_1</Name>
+ <Desc>1 Ch. - 5 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-5">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1700</Pdo>
+ <Pdo OSFac="5">#x1600</Pdo>
+ <Pdo>#x1712</Pdo>
+ </Sm>
+ <Sm No="2">
+ <Pdo>#x1702</Pdo>
+ </Sm>
+ <VendorSpecific>
+ <TwinCAT IgnoreFromBuildNo="1506"/>
+ </VendorSpecific>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync8_1</Name>
+ <Desc>1 Ch. - 8 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-8">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1700</Pdo>
+ <Pdo OSFac="8">#x1600</Pdo>
+ </Sm>
+ <Sm No="2">
+ <Pdo>#x1702</Pdo>
+ </Sm>
+ <VendorSpecific>
+ <TwinCAT IgnoreFromBuildNo="1506"/>
+ </VendorSpecific>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync10_1</Name>
+ <Desc>1 Ch. - 10 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-10">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1700</Pdo>
+ <Pdo OSFac="10">#x1600</Pdo>
+ <Pdo>#x1715</Pdo>
+ </Sm>
+ <Sm No="2">
+ <Pdo>#x1702</Pdo>
+ </Sm>
+ <VendorSpecific>
+ <TwinCAT IgnoreFromBuildNo="1506"/>
+ </VendorSpecific>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync16_1</Name>
+ <Desc>1 Ch. - 16 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-16">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1700</Pdo>
+ <Pdo OSFac="16">#x1600</Pdo>
+ </Sm>
+ <Sm No="2">
+ <Pdo>#x1702</Pdo>
+ </Sm>
+ <VendorSpecific>
+ <TwinCAT IgnoreFromBuildNo="1506"/>
+ </VendorSpecific>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync20_1</Name>
+ <Desc>1 Ch. - 20 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-20">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1700</Pdo>
+ <Pdo OSFac="20">#x1600</Pdo>
+ <Pdo>#x1713</Pdo>
+ </Sm>
+ <Sm No="2">
+ <Pdo>#x1702</Pdo>
+ </Sm>
+ <VendorSpecific>
+ <TwinCAT IgnoreFromBuildNo="1506"/>
+ </VendorSpecific>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync40_1</Name>
+ <Desc>1 Ch. - 40 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-40">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1700</Pdo>
+ <Pdo OSFac="40">#x1600</Pdo>
+ </Sm>
+ <Sm No="2">
+ <Pdo>#x1702</Pdo>
+ </Sm>
+ <VendorSpecific>
+ <TwinCAT IgnoreFromBuildNo="1506"/>
+ </VendorSpecific>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync50_1</Name>
+ <Desc>1 Ch. - 50 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-50">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1700</Pdo>
+ <Pdo OSFac="50">#x1600</Pdo>
+ <Pdo>#x1715</Pdo>
+ </Sm>
+ <Sm No="2">
+ <Pdo>#x1702</Pdo>
+ </Sm>
+ <VendorSpecific>
+ <TwinCAT IgnoreFromBuildNo="1506"/>
+ </VendorSpecific>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync100_1</Name>
+ <Desc>1 Ch. - 100 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-100">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1700</Pdo>
+ <Pdo OSFac="100">#x1600</Pdo>
+ <Pdo>#x1713</Pdo>
+ </Sm>
+ <Sm No="2">
+ <Pdo>#x1702</Pdo>
+ </Sm>
+ <VendorSpecific>
+ <TwinCAT IgnoreFromBuildNo="1506"/>
+ </VendorSpecific>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync200_1</Name>
+ <Desc>1 Ch. - 200 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-200">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1700</Pdo>
+ <Pdo OSFac="25">#x1800</Pdo>
+ </Sm>
+ <Sm No="2">
+ <Pdo>#x1702</Pdo>
+ </Sm>
+ <VendorSpecific>
+ <TwinCAT IgnoreFromBuildNo="1506"/>
+ </VendorSpecific>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync400_1</Name>
+ <Desc>1 Ch. - 400 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-400">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1700</Pdo>
+ <Pdo OSFac="50">#x1800</Pdo>
+ </Sm>
+ <Sm No="2">
+ <Pdo>#x1702</Pdo>
+ </Sm>
+ <VendorSpecific>
+ <TwinCAT IgnoreFromBuildNo="1506"/>
+ </VendorSpecific>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync1000_1</Name>
+ <Desc>1 Ch. - 1000 times oversampling</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-1000">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1700</Pdo>
+ <Pdo OSFac="125">#x1800</Pdo>
+ </Sm>
+ <Sm No="2">
+ <Pdo>#x1702</Pdo>
+ </Sm>
+ <VendorSpecific>
+ <TwinCAT IgnoreFromBuildNo="1506"/>
+ </VendorSpecific>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync</Name>
+ <Desc>2 Channels (Bits)</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-1">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1700</Pdo>
+ <Pdo OSFac="1">#x1600</Pdo>
+ <Pdo>#x1710</Pdo>
+ </Sm>
+ <Sm No="2">
+ <Pdo>#x1b02</Pdo>
+ </Sm>
+ <Sm No="1">
+ <Pdo>#x1701</Pdo>
+ <Pdo OSFac="1">#x1680</Pdo>
+ <Pdo>#x1718</Pdo>
+ </Sm>
+ <VendorSpecific>
+ <TwinCAT UseFromBuildNo="1506">
+ <Oversampling DefaultFactor="10" MinCycleTime="1000"/>
+ </TwinCAT>
+ </VendorSpecific>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync2</Name>
+ <Desc>2 Channels (Bytes)</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-8">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1700</Pdo>
+ <Pdo OSFac="1">#x1800</Pdo>
+ </Sm>
+ <Sm No="2">
+ <Pdo>#x1b02</Pdo>
+ </Sm>
+ <Sm No="1">
+ <Pdo>#x1701</Pdo>
+ <Pdo OSFac="1">#x1880</Pdo>
+ </Sm>
+ <VendorSpecific>
+ <TwinCAT UseFromBuildNo="1506">
+ <Oversampling DefaultFactor="10" MinCycleTime="1000"/>
+ </TwinCAT>
+ </VendorSpecific>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync_1</Name>
+ <Desc>1 Channel (Bits)</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-1">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1700</Pdo>
+ <Pdo OSFac="1">#x1600</Pdo>
+ <Pdo>#x1710</Pdo>
+ </Sm>
+ <Sm No="2">
+ <Pdo>#x1b02</Pdo>
+ </Sm>
+ <VendorSpecific>
+ <TwinCAT UseFromBuildNo="1506">
+ <Oversampling DefaultFactor="10" MinCycleTime="1000"/>
+ </TwinCAT>
+ </VendorSpecific>
+ </OpMode>
+ <OpMode>
+ <Name>DcSync2_1</Name>
+ <Desc>1 Channel (Bytes)</Desc>
+ <AssignActivate>#x0730</AssignActivate>
+ <CycleTimeSync0 Factor="-8">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="-1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ <Sm No="0">
+ <Pdo>#x1700</Pdo>
+ <Pdo OSFac="1">#x1800</Pdo>
+ </Sm>
+ <Sm No="2">
+ <Pdo>#x1b02</Pdo>
+ </Sm>
+ <VendorSpecific>
+ <TwinCAT UseFromBuildNo="1506">
+ <Oversampling DefaultFactor="10" MinCycleTime="1000"/>
+ </TwinCAT>
+ </VendorSpecific>
+ </OpMode>
+ </Dc>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0605000010000100</ConfigData>
+ <Category>
+ <CatNo>1</CatNo>
+ <Data>D60806020602</Data>
+ </Category>
+ </Eeprom>
+ <VendorSpecific>
+ <TwinCAT IgnoreFmmuSu="true" IgnorePdoSu="true"/>
+ </VendorSpecific>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x09c63052" RevisionNo="#x100000">EL2502</Type>
+ <Name LcId="1033">EL2502 2Ch. PWM Output, 24V</Name>
+ <Name LcId="1031">EL2502 2K. PWM Ausgang, 24V</Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2502]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2502]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>130</EBusCurrent>
+ </Electrical>
+ <Mailbox>
+ <Timeout>
+ <RequestTimeout>100</RequestTimeout>
+ <ResponseTimeout>2000</ResponseTimeout>
+ </Timeout>
+ </Mailbox>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Profile>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>250</AddInfo>
+ <ChannelCount>2</ChannelCount>
+ <Dictionary>
+ <DataTypes>
+ <DataType>
+ <Name>BIT2</Name>
+ <BitSize>0</BitSize>
+ </DataType>
+ <DataType>
+ <Name>BIT3</Name>
+ <BitSize>0</BitSize>
+ </DataType>
+ <DataType>
+ <Name>BOOL</Name>
+ <BitSize>1</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>INT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UDINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UINT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>USINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>STRING(11)</Name>
+ <BitSize>88</BitSize>
+ </DataType>
+ <DataType>
+ <Name>STRING(2)</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DT0800EN03</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>3</BitSize>
+ <EnumInfo>
+ <Text>Signed Presentation</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Unsigned resentation</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Absolute value with MSB</Text>
+ <Enum>2</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Absolute value</Text>
+ <Enum>3</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0801EN02</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>2</BitSize>
+ <EnumInfo>
+ <Text>Default Watchdog value</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Watchdog ramp</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Last value</Text>
+ <Enum>2</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0802EN02</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>2</BitSize>
+ <EnumInfo>
+ <Text>PWM</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Frequency</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1011ARR</Name>
+ <BaseType>UDINT</BaseType>
+ <BitSize>32</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>1</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1011</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>DT1011ARR</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1018</Name>
+ <BitSize>144</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Vendor ID</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Product code</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Revision</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>80</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Serial number</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT10F0</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>Checksum</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1600</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>SubIndex 001</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C00ARR</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>32</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>4</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1C00</Name>
+ <BitSize>48</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1C00ARR</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>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>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1C12ARR</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C32</Name>
+ <BitSize>280</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>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>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>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>Command</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>176</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Delay time</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>192</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>SM event missed counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>224</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>12</SubIdx>
+ <Name>Cycle exceeded counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>240</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>Shift too short counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>256</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>32</SubIdx>
+ <Name>Sync error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>272</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7000</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>17</SubIdx>
+ <Name>PWM output</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8000</Name>
+ <BitSize>120</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>Enable user scale</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Presentation</Name>
+ <Type>DT0800EN03</Type>
+ <BitSize>3</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Watchdog</Name>
+ <Type>DT0801EN02</Type>
+ <BitSize>2</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Operation mode</Name>
+ <Type>DT0802EN02</Type>
+ <BitSize>2</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Offset</Name>
+ <Type>INT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>Gain</Name>
+ <Type>DINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>40</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>19</SubIdx>
+ <Name>Default output</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>72</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>20</SubIdx>
+ <Name>Default output ramp</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>88</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>21</SubIdx>
+ <Name>Period PWM [µs]</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>104</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT800E</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>Timer resolution</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Duty cycle</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</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>
+ </DataTypes>
+ <Objects>
+ <Object>
+ <Index>#x1000</Index>
+ <Name>Device type</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>8913fa00</DefaultData>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1008</Index>
+ <Name>Device name</Name>
+ <Type>STRING(11)</Type>
+ <BitSize>88</BitSize>
+ <Info>
+ <DefaultData>454c323530322d30303030</DefaultData>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1009</Index>
+ <Name>Hardware version</Name>
+ <Type>STRING(2)</Type>
+ <BitSize>16</BitSize>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x100a</Index>
+ <Name>Software version</Name>
+ <Type>STRING(2)</Type>
+ <BitSize>16</BitSize>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1011</Index>
+ <Name>Restore default parameters</Name>
+ <Type>DT1011</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>01</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>SubIndex 001</Name>
+ <Info>
+ <DefaultData>00000000</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>02000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Product code</Name>
+ <Info>
+ <DefaultData>5230c609</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Revision</Name>
+ <Info>
+ <DefaultData>00001000</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>#x10f0</Index>
+ <Name>Backup parameter</Name>
+ <Type>DT10F0</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>01</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Checksum</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1600</Index>
+ <Name>RxPDO-Map Ch.1</Name>
+ <Type>DT1600</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>01</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>SubIndex 001</Name>
+ <Info>
+ <DefaultData>10110070</DefaultData>
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+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1601</Index>
+ <Name>RxPDO-Map Ch.2</Name>
+ <Type>DT1600</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>01</DefaultData>
+ </Info>
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+ <Name>SubIndex 001</Name>
+ <Info>
+ <DefaultData>10111070</DefaultData>
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+ </SubItem>
+ </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>#x1c12</Index>
+ <Name>RxPDO assign</Name>
+ <Type>DT1C12</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>SubIndex 001</Name>
+ <Info>
+ <DefaultData>0016</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>SubIndex 002</Name>
+ <Info>
+ <DefaultData>0116</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>280</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>07</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Sync mode</Name>
+ <Info>
+ <DefaultData>0100</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Cycle time</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Shift time</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Sync modes supported</Name>
+ <Info>
+ <DefaultData>0780</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Minimum cycle time</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Calc and copy time</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Command</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Delay time</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>SM event missed counter</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Cycle exceeded counter</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Shift too short counter</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>#x7000</Index>
+ <Name>PWM Outputs Ch.1</Name>
+ <Type>DT7000</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>11</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>PWM output</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x7010</Index>
+ <Name>PWM Outputs Ch.2</Name>
+ <Type>DT7000</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>11</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>PWM output</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x8000</Index>
+ <Name>PWM Settings Ch.1</Name>
+ <Type>DT8000</Type>
+ <BitSize>120</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>15</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Enable user scale</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Presentation</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Watchdog</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Operation mode</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Offset</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Gain</Name>
+ <Info>
+ <DefaultData>00000100</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Default output</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Default output ramp</Name>
+ <Info>
+ <DefaultData>ffff</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Period PWM [µs]</Name>
+ <Info>
+ <DefaultData>a00f</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x800e</Index>
+ <Name>PWM Internal data Ch.1</Name>
+ <Type>DT800E</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Timer resolution</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Duty cycle</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x8010</Index>
+ <Name>PWM Settings Ch.2</Name>
+ <Type>DT8000</Type>
+ <BitSize>120</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>15</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Enable user scale</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Presentation</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Watchdog</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Operation mode</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Offset</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Gain</Name>
+ <Info>
+ <DefaultData>00000100</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Default output</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Default output ramp</Name>
+ <Info>
+ <DefaultData>ffff</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Period PWM [µs]</Name>
+ <Info>
+ <DefaultData>a00f</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x801e</Index>
+ <Name>PWM Internal data Ch.2</Name>
+ <Type>DT800E</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Timer resolution</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Duty cycle</Name>
+ <Info>
+ <DefaultData>0000</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>1000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Maximum number of modules</Name>
+ <Info>
+ <DefaultData>0200</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#xf008</Index>
+ <Name>Code word</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ </Objects>
+ </Dictionary>
+ </Profile>
+ <Fmmu>Outputs</Fmmu>
+ <Fmmu>MBoxState</Fmmu>
+ <Sm MinSize="128" MaxSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+ <Sm MinSize="128" MaxSize="128" DefaultSize="128" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+ <Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x24" Enable="1" Watchdog="1">Outputs</Sm>
+ <Sm DefaultSize="0" StartAddress="#x1180" ControlByte="#x20" Enable="1">Inputs</Sm>
+ <RxPdo Fixed="1" Mandatory="1" Sm="2">
+ <Index>#x1600</Index>
+ <Name>PWM Outputs Channel 1</Name>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>PWM output</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="2">
+ <Index>#x1601</Index>
+ <Name>PWM Outputs Channel 2</Name>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>PWM output</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <Mailbox DataLinkLayer="true">
+ <CoE SdoInfo="1"/>
+ <FoE/>
+ </Mailbox>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0500030800000000000000000000</ConfigData>
+ <BootStrap>0010f400f410f400</BootStrap>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x09c63052" RevisionNo="#x110000">EL2502</Type>
+ <HideType RevisionNo="#x00100000" ProductRevision="EL2502-0000-0016"/>
+ <Name LcId="1033">EL2502 2Ch. PWM Output, 24V</Name>
+ <Name LcId="1031">EL2502 2K. PWM Ausgang, 24V</Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2502]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2502]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>150</EBusCurrent>
+ </Electrical>
+ <Mailbox>
+ <Timeout>
+ <RequestTimeout>100</RequestTimeout>
+ <ResponseTimeout>2000</ResponseTimeout>
+ </Timeout>
+ </Mailbox>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Profile>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>250</AddInfo>
+ <ChannelCount>2</ChannelCount>
+ <Dictionary>
+ <DataTypes>
+ <DataType>
+ <Name>BIT2</Name>
+ <BitSize>0</BitSize>
+ </DataType>
+ <DataType>
+ <Name>BIT3</Name>
+ <BitSize>0</BitSize>
+ </DataType>
+ <DataType>
+ <Name>BOOL</Name>
+ <BitSize>1</BitSize>
+ </DataType>
+ <DataType>
+ <Name>BYTE</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>INT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UDINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UINT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>USINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>ARRAY [0..1] OF BYTE</Name>
+ <BaseType>BYTE</BaseType>
+ <BitSize>16</BitSize>
+ <ArrayInfo>
+ <LBound>0</LBound>
+ <Elements>2</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>STRING(11)</Name>
+ <BitSize>88</BitSize>
+ </DataType>
+ <DataType>
+ <Name>STRING(2)</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DT0800EN03</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>3</BitSize>
+ <EnumInfo>
+ <Text>Signed Presentation</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Unsigned resentation</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Absolute value with MSB</Text>
+ <Enum>2</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Absolute value</Text>
+ <Enum>3</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0801EN02</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>2</BitSize>
+ <EnumInfo>
+ <Text>Default Watchdog value</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Watchdog ramp</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Last value</Text>
+ <Enum>2</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0802EN02</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>2</BitSize>
+ <EnumInfo>
+ <Text>PWM</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Frequency</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1011ARR</Name>
+ <BaseType>UDINT</BaseType>
+ <BitSize>32</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>1</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1011</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>DT1011ARR</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1018</Name>
+ <BitSize>144</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Vendor ID</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Product code</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Revision</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>80</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Serial number</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT10F0</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>Checksum</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1400</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>6</SubIdx>
+ <Name>Exclude RxPDOs</Name>
+ <Type>ARRAY [0..1] OF BYTE</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1600</Name>
+ <BitSize>48</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</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>rw</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>rw</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>rw</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>rw</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>
+ <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>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1C12ARR</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C13</Name>
+ <BitSize>16</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C32</Name>
+ <BitSize>280</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>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>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>rw</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>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>Command</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>176</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Delay time</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>192</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>SM event missed counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>224</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>12</SubIdx>
+ <Name>Cycle exceeded counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>240</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>Shift too short counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>256</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>32</SubIdx>
+ <Name>Sync error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>272</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7000</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>17</SubIdx>
+ <Name>PWM output</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>PWM period</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8000</Name>
+ <BitSize>120</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>Enable user scale</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Presentation</Name>
+ <Type>DT0800EN03</Type>
+ <BitSize>3</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Watchdog</Name>
+ <Type>DT0801EN02</Type>
+ <BitSize>2</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Operation mode</Name>
+ <Type>DT0802EN02</Type>
+ <BitSize>2</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Offset</Name>
+ <Type>INT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>Gain</Name>
+ <Type>DINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>40</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>19</SubIdx>
+ <Name>Default output</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>72</BitOffs>
+ <Flags>
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+ <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>0200</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#xf008</Index>
+ <Name>Code word</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#xf010</Index>
+ <Name>Module list</Name>
+ <Type>DTF010</Type>
+ <BitSize>80</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>SubIndex 001</Name>
+ <Info>
+ <DefaultData>fa000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>SubIndex 002</Name>
+ <Info>
+ <DefaultData>fa000000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ </Objects>
+ </Dictionary>
+ </Profile>
+ <Fmmu>Outputs</Fmmu>
+ <Fmmu>MBoxState</Fmmu>
+ <Sm MinSize="128" MaxSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+ <Sm MinSize="128" MaxSize="128" DefaultSize="128" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+ <Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
+ <Sm DefaultSize="0" StartAddress="#x1180" ControlByte="#x20" Enable="1">Inputs</Sm>
+ <RxPdo Fixed="1" Sm="2">
+ <Index>#x1600</Index>
+ <Name>PWM Outputs Channel 1</Name>
+ <Exclude>#x1602</Exclude>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>PWM output</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1602</Index>
+ <Name>PWM Outputs Channel 1</Name>
+ <Exclude>#x1600</Exclude>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>PWM output</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>18</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>PWM period</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Sm="2">
+ <Index>#x1601</Index>
+ <Name>PWM Outputs Channel 2</Name>
+ <Exclude>#x1603</Exclude>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>PWM output</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1603</Index>
+ <Name>PWM Outputs Channel 2</Name>
+ <Exclude>#x1601</Exclude>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>PWM output</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>18</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>PWM period</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <Mailbox DataLinkLayer="true">
+ <CoE SdoInfo="1" PdoAssign="1"/>
+ <FoE/>
+ </Mailbox>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0500030400000000000000000000</ConfigData>
+ <BootStrap>0010f400f410f400</BootStrap>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x09c63052" RevisionNo="#x00120000">EL2502</Type>
+ <HideType ProductRevision="EL2502-0000-0017" RevisionNo="#x00110000"/>
+ <Name LcId="1033">EL2502 2Ch. PWM Output, 24V</Name>
+ <Name LcId="1031">EL2502 2K. PWM Ausgang, 24V</Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2502]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2502]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>150</EBusCurrent>
+ </Electrical>
+ <Mailbox>
+ <Timeout>
+ <RequestTimeout>100</RequestTimeout>
+ <ResponseTimeout>2000</ResponseTimeout>
+ </Timeout>
+ </Mailbox>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Profile>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>250</AddInfo>
+ <ChannelCount>2</ChannelCount>
+ <Dictionary>
+ <DataTypes>
+ <DataType>
+ <Name>BIT2</Name>
+ <BitSize>0</BitSize>
+ </DataType>
+ <DataType>
+ <Name>BIT3</Name>
+ <BitSize>0</BitSize>
+ </DataType>
+ <DataType>
+ <Name>BOOL</Name>
+ <BitSize>1</BitSize>
+ </DataType>
+ <DataType>
+ <Name>BYTE</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>INT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UDINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UINT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>USINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>ARRAY [0..1] OF BYTE</Name>
+ <BaseType>BYTE</BaseType>
+ <BitSize>16</BitSize>
+ <ArrayInfo>
+ <LBound>0</LBound>
+ <Elements>2</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>STRING(11)</Name>
+ <BitSize>88</BitSize>
+ </DataType>
+ <DataType>
+ <Name>STRING(2)</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DT0800EN03</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>3</BitSize>
+ <EnumInfo>
+ <Text>Signed Presentation</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Unsigned resentation</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Absolute value with MSB</Text>
+ <Enum>2</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Absolute value</Text>
+ <Enum>3</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0801EN02</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>2</BitSize>
+ <EnumInfo>
+ <Text>Default Watchdog value</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Watchdog ramp</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Last value</Text>
+ <Enum>2</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0802EN02</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>2</BitSize>
+ <EnumInfo>
+ <Text>PWM</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Frequency</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1011ARR</Name>
+ <BaseType>UDINT</BaseType>
+ <BitSize>32</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>1</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1011</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>DT1011ARR</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1018</Name>
+ <BitSize>144</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Vendor ID</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Product code</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Revision</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>80</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Serial number</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT10F0</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>Checksum</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
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+ <Name>DT1400</Name>
+ <BitSize>32</BitSize>
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+ <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>6</SubIdx>
+ <Name>Exclude RxPDOs</Name>
+ <Type>ARRAY [0..1] OF BYTE</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
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+ </SubItem>
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+ <Name>DT1600</Name>
+ <BitSize>48</BitSize>
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+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
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+ <SubIdx>1</SubIdx>
+ <Name>SubIndex 001</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</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>rw</Access>
+ <Category>o</Category>
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+ </SubItem>
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+ <SubIdx>1</SubIdx>
+ <Name>SubIndex 001</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
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+ </SubItem>
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+ <SubIdx>2</SubIdx>
+ <Name>SubIndex 002</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</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>
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+ <Name>Elements</Name>
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+ <BitSize>32</BitSize>
+ <BitOffs>16</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>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
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+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C13</Name>
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+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
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+ <Name>DT1C32</Name>
+ <BitSize>280</BitSize>
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+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
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+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Sync mode</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>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>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>rw</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>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>Command</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>176</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Delay time</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>192</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>SM event missed counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>224</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>12</SubIdx>
+ <Name>Cycle exceeded counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>240</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>Shift too short counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>256</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>32</SubIdx>
+ <Name>Sync error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>272</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7000</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>17</SubIdx>
+ <Name>PWM output</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>PWM period</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8000</Name>
+ <BitSize>120</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>Enable user scale</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Presentation</Name>
+ <Type>DT0800EN03</Type>
+ <BitSize>3</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Watchdog</Name>
+ <Type>DT0801EN02</Type>
+ <BitSize>2</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Operation mode</Name>
+ <Type>DT0802EN02</Type>
+ <BitSize>2</BitSize>
+ <BitOffs>22</BitOffs>
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+ <Access>rw</Access>
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+ <Backup>1</Backup>
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+ <Access>rw</Access>
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+ <Access>rw</Access>
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+ <Access>rw</Access>
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+ <SubIdx>20</SubIdx>
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+ <Access>rw</Access>
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+ <Backup>1</Backup>
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+ <SubIdx>21</SubIdx>
+ <Name>Period PWM [µs]</Name>
+ <Type>UINT</Type>
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+ <Access>rw</Access>
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+ <SubIdx>1</SubIdx>
+ <Name>Module index distance</Name>
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+ <Access>ro</Access>
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+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Maximum number of modules</Name>
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+ <Access>ro</Access>
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+ <Access>rw</Access>
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+ <Objects>
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+ <Index>#x1000</Index>
+ <Name>Device type</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
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+ <Access>ro</Access>
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+ <Access>ro</Access>
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+ <Index>#x1009</Index>
+ <Name>Hardware version</Name>
+ <Type>STRING(2)</Type>
+ <BitSize>16</BitSize>
+ <Flags>
+ <Access>ro</Access>
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+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x100a</Index>
+ <Name>Software version</Name>
+ <Type>STRING(2)</Type>
+ <BitSize>16</BitSize>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1011</Index>
+ <Name>Restore default parameters</Name>
+ <Type>DT1011</Type>
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+ <Name>Vendor ID</Name>
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+ <SubItem>
+ <Name>Product code</Name>
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+ <DefaultData>5230c609</DefaultData>
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+ <Name>Revision</Name>
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+ <DefaultData>00001200</DefaultData>
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+ <Name>Serial number</Name>
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+ <DefaultData>00000000</DefaultData>
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+ <Name>Backup parameter handling</Name>
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+ <Name>SubIndex 000</Name>
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+ <Index>#x1c32</Index>
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+ <Type>DT1C32</Type>
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+ <SubItem>
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+ <SubItem>
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+ <DefaultData>00000000</DefaultData>
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+ <SubItem>
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+ <Category>o</Category>
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+ <Type>DT7000</Type>
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+ <DefaultData>12</DefaultData>
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+ <Object>
+ <Index>#x7010</Index>
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+ <Object>
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+ <Name>SubIndex 000</Name>
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+ <DefaultData>15</DefaultData>
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+ <SubItem>
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+ <SubItem>
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+ <SubItem>
+ <Name>Gain</Name>
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+ <SubItem>
+ <Name>Default output</Name>
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+ <SubItem>
+ <Name>Default output ramp</Name>
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+ <DefaultData>ffff</DefaultData>
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+ <SubItem>
+ <Name>Period PWM [µs]</Name>
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+ <Access>rw</Access>
+ <Category>o</Category>
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+ <Object>
+ <Index>#x800e</Index>
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+ <Name>Gain</Name>
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+ <SubItem>
+ <Name>Default output ramp</Name>
+ <Info>
+ <DefaultData>ffff</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Period PWM [µs]</Name>
+ <Info>
+ <DefaultData>a00f</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x801e</Index>
+ <Name>PWM Internal data Ch.2</Name>
+ <Type>DT800E</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Timer resolution</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Duty cycle</Name>
+ <Info>
+ <DefaultData>0000</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>1000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Maximum number of modules</Name>
+ <Info>
+ <DefaultData>0200</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#xf008</Index>
+ <Name>Code word</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#xf010</Index>
+ <Name>Module list</Name>
+ <Type>DTF010</Type>
+ <BitSize>80</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>SubIndex 001</Name>
+ <Info>
+ <DefaultData>fa000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>SubIndex 002</Name>
+ <Info>
+ <DefaultData>fa000000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ </Objects>
+ </Dictionary>
+ </Profile>
+ <Fmmu>Outputs</Fmmu>
+ <Fmmu>MBoxState</Fmmu>
+ <Sm MaxSize="128" MinSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+ <Sm MaxSize="128" MinSize="128" DefaultSize="128" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+ <Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
+ <Sm DefaultSize="0" StartAddress="#x1180" ControlByte="#x20" Enable="0">Inputs</Sm>
+ <RxPdo Fixed="1" Sm="2">
+ <Index>#x1600</Index>
+ <Name>PWM Outputs Channel 1</Name>
+ <Exclude>#x1602</Exclude>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>PWM output</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1602</Index>
+ <Name>PWM Outputs Channel 1</Name>
+ <Exclude>#x1600</Exclude>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>PWM output</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>18</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>PWM period</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Sm="2">
+ <Index>#x1601</Index>
+ <Name>PWM Outputs Channel 2</Name>
+ <Exclude>#x1603</Exclude>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>PWM output</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1603</Index>
+ <Name>PWM Outputs Channel 2</Name>
+ <Exclude>#x1601</Exclude>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>PWM output</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>18</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>PWM period</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <Mailbox DataLinkLayer="true">
+ <CoE PdoAssign="1" SdoInfo="1"/>
+ <FoE/>
+ </Mailbox>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0500030400000000000000000000</ConfigData>
+ <BootStrap>0010f400f410f400</BootStrap>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x9c63052" RevisionNo="#x00130000">EL2502</Type>
+ <HideType RevisionNo="#x00110000"/>
+ <HideType RevisionNo="#x00120000"/>
+ <Name LcId="1033">EL2502 2Ch. PWM output, 24V</Name>
+ <Name LcId="1031">EL2502 2K. PWM Ausgang, 24V</Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2502]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2502]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>150</EBusCurrent>
+ </Electrical>
+ <Mailbox>
+ <Timeout>
+ <RequestTimeout>100</RequestTimeout>
+ <ResponseTimeout>2000</ResponseTimeout>
+ </Timeout>
+ </Mailbox>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Profile>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>250</AddInfo>
+ <ChannelCount>2</ChannelCount>
+ <Dictionary>
+ <DataTypes>
+ <DataType>
+ <Name>BIT2</Name>
+ <BitSize>2</BitSize>
+ </DataType>
+ <DataType>
+ <Name>BIT3</Name>
+ <BitSize>3</BitSize>
+ </DataType>
+ <DataType>
+ <Name>BOOL</Name>
+ <BitSize>1</BitSize>
+ </DataType>
+ <DataType>
+ <Name>BYTE</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>INT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UDINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UINT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>USINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>ARRAY [0..1] OF BYTE</Name>
+ <BaseType>BYTE</BaseType>
+ <BitSize>16</BitSize>
+ <ArrayInfo>
+ <LBound>0</LBound>
+ <Elements>2</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>STRING(11)</Name>
+ <BitSize>88</BitSize>
+ </DataType>
+ <DataType>
+ <Name>STRING(2)</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DT0800EN03</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>3</BitSize>
+ <EnumInfo>
+ <Text>Signed Presentation</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Unsigned resentation</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Absolute value with MSB</Text>
+ <Enum>2</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Absolute value</Text>
+ <Enum>3</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0801EN02</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>2</BitSize>
+ <EnumInfo>
+ <Text>Default Watchdog value</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Watchdog ramp</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Last value</Text>
+ <Enum>2</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0802EN02</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>2</BitSize>
+ <EnumInfo>
+ <Text>PWM 20Hz...20kHz</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Reserved.</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>PWM 100ns frq. res.</Text>
+ <Enum>2</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>PWM 1Hz...20kHz</Text>
+ <Enum>3</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1011ARR</Name>
+ <BaseType>UDINT</BaseType>
+ <BitSize>32</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>1</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1011</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>DT1011ARR</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1018</Name>
+ <BitSize>144</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Vendor ID</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Product code</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Revision</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>80</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Serial number</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT10F0</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>Checksum</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1400</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>6</SubIdx>
+ <Name>Exclude RxPDOs</Name>
+ <Type>ARRAY [0..1] OF BYTE</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1600</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>SubIndex 001</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</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>DT1C00ARR</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>32</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>4</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1C00</Name>
+ <BitSize>48</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1C00ARR</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>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>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1C12ARR</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C13ARR</Name>
+ <BaseType>UINT</BaseType>
+ <BitSize>0</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>0</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1C13</Name>
+ <BitSize>16</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1C13ARR</Type>
+ <BitSize>0</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C32</Name>
+ <BitSize>344</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>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>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>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>7</SubIdx>
+ <Name>Minimum delay time</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>176</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Command</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>208</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Maximum delay time</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>224</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>SM event missed counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>288</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>12</SubIdx>
+ <Name>Cycle exceeded counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>304</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>Shift too short counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>320</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>32</SubIdx>
+ <Name>Sync error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>336</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7000</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>17</SubIdx>
+ <Name>PWM output</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>PWM period</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8000</Name>
+ <BitSize>160</BitSize>
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+ <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>Enable user scale</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Presentation</Name>
+ <Type>DT0800EN03</Type>
+ <BitSize>3</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Watchdog</Name>
+ <Type>DT0801EN02</Type>
+ <BitSize>2</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Operation mode</Name>
+ <Type>DT0802EN02</Type>
+ <BitSize>2</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
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+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Offset</Name>
+ <Type>INT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
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+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>Gain</Name>
+ <Type>DINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
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+ </SubItem>
+ <SubItem>
+ <SubIdx>19</SubIdx>
+ <Name>Default output</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>80</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
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+ </SubItem>
+ <SubItem>
+ <SubIdx>20</SubIdx>
+ <Name>Default output ramp</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>96</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>21</SubIdx>
+ <Name>Period PWM 20Hz..20kHz[µs]</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>22</SubIdx>
+ <Name>Period PWM 1Hz..20kHz [µs]</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>128</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
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+ </SubItem>
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+ <DataType>
+ <Name>DT800E</Name>
+ <BitSize>48</BitSize>
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+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
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+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
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+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Timer resolution</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Duty cycle</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
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+ <DataType>
+ <Name>DTF000</Name>
+ <BitSize>48</BitSize>
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+ <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>
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+ <Name>DTF010ARR</Name>
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+ <Elements>2</Elements>
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+ <Name>DTF010</Name>
+ <BitSize>80</BitSize>
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+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DTF010ARR</Type>
+ <BitSize>64</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ </DataTypes>
+ <Objects>
+ <Object>
+ <Index>#x1000</Index>
+ <Name>Device type</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>8913fa00</DefaultData>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1008</Index>
+ <Name>Device name</Name>
+ <Type>STRING(11)</Type>
+ <BitSize>88</BitSize>
+ <Info>
+ <DefaultData>454c323530322d30303030</DefaultData>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1009</Index>
+ <Name>Hardware version</Name>
+ <Type>STRING(2)</Type>
+ <BitSize>16</BitSize>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x100a</Index>
+ <Name>Software version</Name>
+ <Type>STRING(2)</Type>
+ <BitSize>16</BitSize>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1011</Index>
+ <Name>Restore default parameters</Name>
+ <Type>DT1011</Type>
+ <BitSize>48</BitSize>
+ <Info>
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+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>01</DefaultData>
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+ <Name>SubIndex 001</Name>
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+ <DefaultData>00000000</DefaultData>
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+ <Flags>
+ <Access>ro</Access>
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+ <Object>
+ <Index>#x1018</Index>
+ <Name>Identity</Name>
+ <Type>DT1018</Type>
+ <BitSize>144</BitSize>
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+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>04</DefaultData>
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+ <SubItem>
+ <Name>Vendor ID</Name>
+ <Info>
+ <DefaultData>02000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Product code</Name>
+ <Info>
+ <DefaultData>5230c609</DefaultData>
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+ </SubItem>
+ <SubItem>
+ <Name>Revision</Name>
+ <Info>
+ <DefaultData>00001300</DefaultData>
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+ </SubItem>
+ <SubItem>
+ <Name>Serial number</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
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+ <Object>
+ <Index>#x10f0</Index>
+ <Name>Backup parameter handling</Name>
+ <Type>DT10F0</Type>
+ <BitSize>48</BitSize>
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+ <SubItem>
+ <Name>SubIndex 000</Name>
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+ <DefaultData>01</DefaultData>
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+ <Name>Checksum</Name>
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+ <DefaultData>00000000</DefaultData>
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+ <Access>ro</Access>
+ <Category>o</Category>
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+ </Object>
+ <Object>
+ <Index>#x1400</Index>
+ <Name>PWM RxPDO-Par Ch.1</Name>
+ <Type>DT1400</Type>
+ <BitSize>32</BitSize>
+ <Info>
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+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>06</DefaultData>
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+ <Category>o</Category>
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+ <Index>#x1401</Index>
+ <Name>PWM RxPDO-Par Ch.2</Name>
+ <Type>DT1400</Type>
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+ <Index>#x1402</Index>
+ <Name>PWM RxPDO-Par h.1 Ch.1</Name>
+ <Type>DT1400</Type>
+ <BitSize>32</BitSize>
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+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>06</DefaultData>
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+ <Name>Exclude RxPDOs</Name>
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+ <DefaultData>0016</DefaultData>
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+ <Access>ro</Access>
+ <Category>o</Category>
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+ <Object>
+ <Index>#x1403</Index>
+ <Name>PWM RxPDO-Par h.1 Ch.2</Name>
+ <Type>DT1400</Type>
+ <BitSize>32</BitSize>
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+ <Name>SubIndex 000</Name>
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+ <DefaultData>06</DefaultData>
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+ </SubItem>
+ <SubItem>
+ <Name>Exclude RxPDOs</Name>
+ <Info>
+ <DefaultData>0116</DefaultData>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
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+ </Object>
+ <Object>
+ <Index>#x1600</Index>
+ <Name>PWM RxPDO-Map Ch.1</Name>
+ <Type>DT1600</Type>
+ <BitSize>48</BitSize>
+ <Info>
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+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>01</DefaultData>
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+ <Access>ro</Access>
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+ <Object>
+ <Index>#x1601</Index>
+ <Name>PWM RxPDO-Map Ch.2</Name>
+ <Type>DT1600</Type>
+ <BitSize>48</BitSize>
+ <Info>
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+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>01</DefaultData>
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+ <Name>SubIndex 001</Name>
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+ <DefaultData>10111070</DefaultData>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1602</Index>
+ <Name>PWM RxPDO-Map h.1 Ch.1</Name>
+ <Type>DT1602</Type>
+ <BitSize>80</BitSize>
+ <Info>
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+ <Name>SubIndex 000</Name>
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+ <DefaultData>02</DefaultData>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1603</Index>
+ <Name>PWM RxPDO-Map h.1 Ch.2</Name>
+ <Type>DT1602</Type>
+ <BitSize>80</BitSize>
+ <Info>
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+ <Name>SubIndex 000</Name>
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+ <DefaultData>02</DefaultData>
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+ <Name>SubIndex 002</Name>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
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+ </Object>
+ <Object>
+ <Index>#x1c00</Index>
+ <Name>Sync manager type</Name>
+ <Type>DT1C00</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
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+ <DefaultData>04</DefaultData>
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+ <DefaultData>01</DefaultData>
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+ <Name>SubIndex 002</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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+ <SubItem>
+ <Name>SubIndex 004</Name>
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+ <DefaultData>04</DefaultData>
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+ </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>02</DefaultData>
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+ </SubItem>
+ <SubItem>
+ <Name>SubIndex 001</Name>
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+ <DefaultData>0016</DefaultData>
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+ <SubItem>
+ <Name>SubIndex 002</Name>
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+ <DefaultData>0116</DefaultData>
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+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1c13</Index>
+ <Name>TxPDO assign</Name>
+ <Type>DT1C13</Type>
+ <BitSize>8</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
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+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
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+ <Index>#x1c32</Index>
+ <Name>SM output parameter</Name>
+ <Type>DT1C32</Type>
+ <BitSize>344</BitSize>
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+ <SubItem>
+ <Name>SubIndex 000</Name>
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+ <Name>Cycle time</Name>
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+ <DefaultData>00000000</DefaultData>
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+ <Name>Shift time</Name>
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+ <DefaultData>00000000</DefaultData>
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+ <SubItem>
+ <Name>Sync modes supported</Name>
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+ <DefaultData>07c0</DefaultData>
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+ <DefaultData>00000000</DefaultData>
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+ <SubItem>
+ <Name>Calc and copy time</Name>
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+ <DefaultData>00000000</DefaultData>
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+ <SubItem>
+ <Name>Minimum delay time</Name>
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+ <DefaultData>00000000</DefaultData>
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+ <SubItem>
+ <Name>Command</Name>
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+ <DefaultData>0000</DefaultData>
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+ <SubItem>
+ <Name>Maximum delay time</Name>
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+ <DefaultData>00000000</DefaultData>
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+ <SubItem>
+ <Name>SM event missed counter</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
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+ </SubItem>
+ <SubItem>
+ <Name>Cycle exceeded counter</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Shift too short counter</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>#x7000</Index>
+ <Name>PWM Outputs Ch.1</Name>
+ <Type>DT7000</Type>
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+ <Name>SubIndex 000</Name>
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+ <DefaultData>12</DefaultData>
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+ <SubItem>
+ <Name>PWM output</Name>
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+ <Name>PWM period</Name>
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+ <DefaultData>0000</DefaultData>
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+ <Access>ro</Access>
+ <Category>o</Category>
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+ </Object>
+ <Object>
+ <Index>#x7010</Index>
+ <Name>PWM Outputs Ch.2</Name>
+ <Type>DT7000</Type>
+ <BitSize>48</BitSize>
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+ <DefaultData>12</DefaultData>
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+ <Name>PWM period</Name>
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+ <DefaultData>0000</DefaultData>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x8000</Index>
+ <Name>PWM Settings Ch.1</Name>
+ <Type>DT8000</Type>
+ <BitSize>160</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>16</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Enable user scale</Name>
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+ <DefaultData>00</DefaultData>
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+ </SubItem>
+ <SubItem>
+ <Name>Presentation</Name>
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+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Watchdog</Name>
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+ </SubItem>
+ <SubItem>
+ <Name>Operation mode</Name>
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+ <DefaultData>00</DefaultData>
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+ </SubItem>
+ <SubItem>
+ <Name>Offset</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Gain</Name>
+ <Info>
+ <DefaultData>00000100</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Default output</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Default output ramp</Name>
+ <Info>
+ <DefaultData>ffff</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Period PWM 20Hz..20kHz[µs]</Name>
+ <Info>
+ <DefaultData>a00f</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Period PWM 1Hz..20kHz [µs]</Name>
+ <Info>
+ <MinValue>#x0</MinValue>
+ <MaxValue>#xf4240</MaxValue>
+ <DefaultValue>#x186a0</DefaultValue>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x800e</Index>
+ <Name>PWM Internal data Ch.1</Name>
+ <Type>DT800E</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Timer resolution</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Duty cycle</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x8010</Index>
+ <Name>PWM Settings Ch.2</Name>
+ <Type>DT8000</Type>
+ <BitSize>160</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>16</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Enable user scale</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Presentation</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Watchdog</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Operation mode</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Offset</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Gain</Name>
+ <Info>
+ <DefaultData>00000100</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Default output</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Default output ramp</Name>
+ <Info>
+ <DefaultData>ffff</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Period PWM 20Hz..20kHz[µs]</Name>
+ <Info>
+ <DefaultData>a00f</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Period PWM 1Hz..20kHz [µs]</Name>
+ <Info>
+ <MinValue>#x0</MinValue>
+ <MaxValue>#xf4240</MaxValue>
+ <DefaultValue>#x186a0</DefaultValue>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x801e</Index>
+ <Name>PWM Internal data Ch.2</Name>
+ <Type>DT800E</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Timer resolution</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Duty cycle</Name>
+ <Info>
+ <DefaultData>0000</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>1000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Maximum number of modules</Name>
+ <Info>
+ <DefaultData>0200</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#xf008</Index>
+ <Name>Code word</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#xf010</Index>
+ <Name>Module list</Name>
+ <Type>DTF010</Type>
+ <BitSize>80</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>SubIndex 001</Name>
+ <Info>
+ <DefaultData>fa000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>SubIndex 002</Name>
+ <Info>
+ <DefaultData>fa000000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ </Objects>
+ </Dictionary>
+ </Profile>
+ <Fmmu>Outputs</Fmmu>
+ <Fmmu>MBoxState</Fmmu>
+ <Sm MinSize="128" MaxSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+ <Sm MinSize="128" MaxSize="128" DefaultSize="128" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+ <Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
+ <Sm DefaultSize="0" StartAddress="#x1180" ControlByte="#x0" Enable="0">Inputs</Sm>
+ <RxPdo Fixed="1" Sm="2">
+ <Index>#x1600</Index>
+ <Name>PWM Outputs Channel 1</Name>
+ <Exclude>#x1602</Exclude>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>PWM output</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Sm="2">
+ <Index>#x1601</Index>
+ <Name>PWM Outputs Channel 2</Name>
+ <Exclude>#x1603</Exclude>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>PWM output</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1602</Index>
+ <Name>PWM Outputs Channel 1</Name>
+ <Exclude>#x1600</Exclude>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>PWM output</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>18</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>PWM period</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1603</Index>
+ <Name>PWM Outputs Channel 2</Name>
+ <Exclude>#x1601</Exclude>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>PWM output</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>18</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>PWM period</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <Mailbox DataLinkLayer="true">
+ <CoE SdoInfo="1" PdoAssign="1"/>
+ <FoE/>
+ </Mailbox>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0500030000000000000000000000</ConfigData>
+ <BootStrap>0010f400f410f400</BootStrap>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x9c63052" RevisionNo="#x00140000">EL2502</Type>
+ <HideType RevisionNo="#x00110000"/>
+ <HideType RevisionNo="#x00120000"/>
+ <HideType RevisionNo="#x00130000"/>
+ <Name LcId="1033">EL2502 2Ch. PWM output, 24V</Name>
+ <Name LcId="1031">EL2502 2K. PWM Ausgang, 24V</Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2502]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2502]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>150</EBusCurrent>
+ </Electrical>
+ <Mailbox>
+ <Timeout>
+ <RequestTimeout>100</RequestTimeout>
+ <ResponseTimeout>2000</ResponseTimeout>
+ </Timeout>
+ </Mailbox>
+ <VendorSpecific>
+ <TwinCAT>
+ <AlternativeSmMapping Default="1">
+ <Name>Pulswith (standard)</Name>
+ <Sm No="2">
+ <Pdo>#x1600</Pdo>
+ <Pdo>#x1601</Pdo>
+ </Sm>
+ </AlternativeSmMapping>
+ <AlternativeSmMapping>
+ <Name>Pulswith and frequency (16 bit)</Name>
+ <Sm No="2">
+ <Pdo>#x1602</Pdo>
+ <Pdo>#x1603</Pdo>
+ </Sm>
+ </AlternativeSmMapping>
+ </TwinCAT>
+ </VendorSpecific>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Profile>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>250</AddInfo>
+ <ChannelCount>2</ChannelCount>
+ <Dictionary>
+ <DataTypes>
+ <DataType>
+ <Name>BIT2</Name>
+ <BitSize>2</BitSize>
+ </DataType>
+ <DataType>
+ <Name>BIT3</Name>
+ <BitSize>3</BitSize>
+ </DataType>
+ <DataType>
+ <Name>BOOL</Name>
+ <BitSize>1</BitSize>
+ </DataType>
+ <DataType>
+ <Name>BYTE</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>INT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UDINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UINT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>USINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>ARRAY [0..1] OF BYTE</Name>
+ <BaseType>BYTE</BaseType>
+ <BitSize>16</BitSize>
+ <ArrayInfo>
+ <LBound>0</LBound>
+ <Elements>2</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>STRING(11)</Name>
+ <BitSize>88</BitSize>
+ </DataType>
+ <DataType>
+ <Name>STRING(2)</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DT0800EN03</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>3</BitSize>
+ <EnumInfo>
+ <Text>Signed Presentation</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Unsigned Presentation</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Absolute value with MSB</Text>
+ <Enum>2</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Absolute value</Text>
+ <Enum>3</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0801EN02</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>2</BitSize>
+ <EnumInfo>
+ <Text>Default Watchdog value</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Watchdog ramp</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Last value</Text>
+ <Enum>2</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0802EN02</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>2</BitSize>
+ <EnumInfo>
+ <Text>PWM 20Hz...20kHz</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Reserved.</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>PWM 100ns frq. res.</Text>
+ <Enum>2</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>PWM 1Hz...20kHz</Text>
+ <Enum>3</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1011ARR</Name>
+ <BaseType>UDINT</BaseType>
+ <BitSize>32</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>1</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1011</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>DT1011ARR</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1018</Name>
+ <BitSize>144</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Vendor ID</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Product code</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Revision</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>80</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Serial number</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT10F0</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>Checksum</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1400</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>6</SubIdx>
+ <Name>Exclude RxPDOs</Name>
+ <Type>ARRAY [0..1] OF BYTE</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1600</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>SubIndex 001</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</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>DT1C00ARR</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>32</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>4</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1C00</Name>
+ <BitSize>48</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1C00ARR</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>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>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1C12ARR</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C13ARR</Name>
+ <BaseType>UINT</BaseType>
+ <BitSize>0</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>0</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1C13</Name>
+ <BitSize>16</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1C13ARR</Type>
+ <BitSize>0</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C32</Name>
+ <BitSize>344</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>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>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>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>7</SubIdx>
+ <Name>Minimum delay time</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>176</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Command</Name>
+ <Type>UINT</Type>
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+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Maximum delay time</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>224</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>SM event missed counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>288</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
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+ <SubItem>
+ <SubIdx>12</SubIdx>
+ <Name>Cycle exceeded counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>304</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>Shift too short counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>320</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>32</SubIdx>
+ <Name>Sync error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
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+ <Access>ro</Access>
+ <Category>o</Category>
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+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7000</Name>
+ <BitSize>48</BitSize>
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+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
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+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>PWM output</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>PWM period</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
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+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8000</Name>
+ <BitSize>160</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>Enable user scale</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Presentation</Name>
+ <Type>DT0800EN03</Type>
+ <BitSize>3</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Watchdog</Name>
+ <Type>DT0801EN02</Type>
+ <BitSize>2</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Operation mode</Name>
+ <Type>DT0802EN02</Type>
+ <BitSize>2</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
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+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Offset</Name>
+ <Type>INT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
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+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>Gain</Name>
+ <Type>DINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
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+ </SubItem>
+ <SubItem>
+ <SubIdx>19</SubIdx>
+ <Name>Default output</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>80</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
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+ </SubItem>
+ <SubItem>
+ <SubIdx>20</SubIdx>
+ <Name>Default output ramp</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>96</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>21</SubIdx>
+ <Name>Period PWM 20Hz..20kHz[µs]</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>22</SubIdx>
+ <Name>Period PWM 1Hz..20kHz [µs]</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>128</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
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+ <DataType>
+ <Name>DT800E</Name>
+ <BitSize>48</BitSize>
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+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
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+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Timer resolution</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
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+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Duty cycle</Name>
+ <Type>UINT</Type>
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+ <BitOffs>32</BitOffs>
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+ <Access>ro</Access>
+ <Category>o</Category>
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+ <Name>DTF000</Name>
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+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
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+ <Access>ro</Access>
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+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Module index distance</Name>
+ <Type>UINT</Type>
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+ <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>
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+ <Name>DTF010ARR</Name>
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+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
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+ <BitOffs>0</BitOffs>
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+ <Access>rw</Access>
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+ </SubItem>
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+ <Name>Elements</Name>
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+ <BitSize>64</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
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+ </DataTypes>
+ <Objects>
+ <Object>
+ <Index>#x1000</Index>
+ <Name>Device type</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>8913fa00</DefaultData>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
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+ </Object>
+ <Object>
+ <Index>#x1008</Index>
+ <Name>Device name</Name>
+ <Type>STRING(11)</Type>
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+ <DefaultData>454c323530322d30303030</DefaultData>
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+ <Flags>
+ <Access>ro</Access>
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+ </Object>
+ <Object>
+ <Index>#x1009</Index>
+ <Name>Hardware version</Name>
+ <Type>STRING(2)</Type>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x100a</Index>
+ <Name>Software version</Name>
+ <Type>STRING(2)</Type>
+ <BitSize>16</BitSize>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1011</Index>
+ <Name>Restore default parameters</Name>
+ <Type>DT1011</Type>
+ <BitSize>48</BitSize>
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+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>01</DefaultData>
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+ <Name>SubIndex 001</Name>
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+ <DefaultData>00000000</DefaultData>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
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+ <Object>
+ <Index>#x1018</Index>
+ <Name>Identity</Name>
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+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>04</DefaultData>
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+ <SubItem>
+ <Name>Vendor ID</Name>
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+ <DefaultData>02000000</DefaultData>
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+ </SubItem>
+ <SubItem>
+ <Name>Product code</Name>
+ <Info>
+ <DefaultData>5230c609</DefaultData>
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+ </SubItem>
+ <SubItem>
+ <Name>Revision</Name>
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+ <DefaultData>00001300</DefaultData>
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+ <SubItem>
+ <Name>Serial number</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
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+ <Access>ro</Access>
+ <Category>o</Category>
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+ <Name>Backup parameter handling</Name>
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+ <DefaultData>01</DefaultData>
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+ <Name>Checksum</Name>
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+ <Access>ro</Access>
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+ <Object>
+ <Index>#x1400</Index>
+ <Name>PWM RxPDO-Par Ch.1</Name>
+ <Type>DT1400</Type>
+ <BitSize>32</BitSize>
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+ <Name>SubIndex 000</Name>
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+ <DefaultData>06</DefaultData>
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+ <Name>Exclude RxPDOs</Name>
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+ <Access>ro</Access>
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+ <Index>#x1401</Index>
+ <Name>PWM RxPDO-Par Ch.2</Name>
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+ <Name>SubIndex 000</Name>
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+ <Name>Exclude RxPDOs</Name>
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+ <DefaultData>0316</DefaultData>
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+ <Access>ro</Access>
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+ <Name>PWM RxPDO-Par h.1 Ch.1</Name>
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+ <BitSize>32</BitSize>
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+ <Name>SubIndex 000</Name>
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+ <DefaultData>06</DefaultData>
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+ <Name>Exclude RxPDOs</Name>
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+ <DefaultData>0016</DefaultData>
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+ <Access>ro</Access>
+ <Category>o</Category>
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+ <Object>
+ <Index>#x1403</Index>
+ <Name>PWM RxPDO-Par h.1 Ch.2</Name>
+ <Type>DT1400</Type>
+ <BitSize>32</BitSize>
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+ <Name>SubIndex 000</Name>
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+ <DefaultData>06</DefaultData>
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+ </SubItem>
+ <SubItem>
+ <Name>Exclude RxPDOs</Name>
+ <Info>
+ <DefaultData>0116</DefaultData>
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+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1600</Index>
+ <Name>PWM RxPDO-Map Ch.1</Name>
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+ <BitSize>48</BitSize>
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+ <Name>SubIndex 000</Name>
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+ <DefaultData>01</DefaultData>
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+ <Access>ro</Access>
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+ </Object>
+ <Object>
+ <Index>#x1601</Index>
+ <Name>PWM RxPDO-Map Ch.2</Name>
+ <Type>DT1600</Type>
+ <BitSize>48</BitSize>
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+ <Name>SubIndex 000</Name>
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+ <DefaultData>01</DefaultData>
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+ <DefaultData>10111070</DefaultData>
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+ <Access>ro</Access>
+ <Category>o</Category>
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+ <Object>
+ <Index>#x1602</Index>
+ <Name>PWM RxPDO-Map h.1 Ch.1</Name>
+ <Type>DT1602</Type>
+ <BitSize>80</BitSize>
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+ <Name>SubIndex 000</Name>
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+ <Object>
+ <Index>#x1603</Index>
+ <Name>PWM RxPDO-Map h.1 Ch.2</Name>
+ <Type>DT1602</Type>
+ <BitSize>80</BitSize>
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+ <Name>SubIndex 000</Name>
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+ <Object>
+ <Index>#x1c00</Index>
+ <Name>Sync manager type</Name>
+ <Type>DT1C00</Type>
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+ <Name>SubIndex 000</Name>
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+ <DefaultData>03</DefaultData>
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+ <DefaultData>04</DefaultData>
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+ <Flags>
+ <Access>ro</Access>
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+ <Object>
+ <Index>#x1c12</Index>
+ <Name>RxPDO assign</Name>
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+ <Name>SubIndex 000</Name>
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+ <DefaultData>02</DefaultData>
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+ <Name>SubIndex 002</Name>
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+ <DefaultData>0116</DefaultData>
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+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
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+ </Object>
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+ <Index>#x1c13</Index>
+ <Name>TxPDO assign</Name>
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+ <Name>SubIndex 000</Name>
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+ <DefaultData>00</DefaultData>
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+ <Access>rw</Access>
+ <Category>o</Category>
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+ <Index>#x1c32</Index>
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+ <Name>SubIndex 000</Name>
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+ <SubItem>
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+ <SubItem>
+ <Name>Cycle time</Name>
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+ <DefaultData>00000000</DefaultData>
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+ </SubItem>
+ <SubItem>
+ <Name>Shift time</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Sync modes supported</Name>
+ <Info>
+ <DefaultData>07c0</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Minimum cycle time</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Calc and copy time</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Minimum delay time</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Command</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Maximum delay time</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>SM event missed counter</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Cycle exceeded counter</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Shift too short counter</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>#x7000</Index>
+ <Name>PWM Outputs Ch.1</Name>
+ <Type>DT7000</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>12</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>PWM output</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>PWM period</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x7010</Index>
+ <Name>PWM Outputs Ch.2</Name>
+ <Type>DT7000</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>12</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>PWM output</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>PWM period</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x8000</Index>
+ <Name>PWM Settings Ch.1</Name>
+ <Type>DT8000</Type>
+ <BitSize>160</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>16</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Enable user scale</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Presentation</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Watchdog</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Operation mode</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Offset</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Gain</Name>
+ <Info>
+ <DefaultData>00000100</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Default output</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Default output ramp</Name>
+ <Info>
+ <DefaultData>ffff</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Period PWM 20Hz..20kHz[µs]</Name>
+ <Info>
+ <DefaultData>a00f</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Period PWM 1Hz..20kHz [µs]</Name>
+ <Info>
+ <MinValue>#x0</MinValue>
+ <MaxValue>#xf4240</MaxValue>
+ <DefaultValue>#x186a0</DefaultValue>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x800e</Index>
+ <Name>PWM Internal data Ch.1</Name>
+ <Type>DT800E</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Timer resolution</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Duty cycle</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x8010</Index>
+ <Name>PWM Settings Ch.2</Name>
+ <Type>DT8000</Type>
+ <BitSize>160</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>16</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Enable user scale</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Presentation</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Watchdog</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Operation mode</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Offset</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Gain</Name>
+ <Info>
+ <DefaultData>00000100</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Default output</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Default output ramp</Name>
+ <Info>
+ <DefaultData>ffff</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Period PWM 20Hz..20kHz[µs]</Name>
+ <Info>
+ <DefaultData>a00f</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Period PWM 1Hz..20kHz [µs]</Name>
+ <Info>
+ <MinValue>#x0</MinValue>
+ <MaxValue>#xf4240</MaxValue>
+ <DefaultValue>#x186a0</DefaultValue>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x801e</Index>
+ <Name>PWM Internal data Ch.2</Name>
+ <Type>DT800E</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Timer resolution</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Duty cycle</Name>
+ <Info>
+ <DefaultData>0000</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>1000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Maximum number of modules</Name>
+ <Info>
+ <DefaultData>0200</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#xf008</Index>
+ <Name>Code word</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#xf010</Index>
+ <Name>Module list</Name>
+ <Type>DTF010</Type>
+ <BitSize>80</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>SubIndex 001</Name>
+ <Info>
+ <DefaultData>fa000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>SubIndex 002</Name>
+ <Info>
+ <DefaultData>fa000000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ </Objects>
+ </Dictionary>
+ </Profile>
+ <Fmmu>Outputs</Fmmu>
+ <Fmmu>MBoxState</Fmmu>
+ <Sm MinSize="128" MaxSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+ <Sm MinSize="128" MaxSize="128" DefaultSize="128" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+ <Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
+ <Sm DefaultSize="0" StartAddress="#x1180" ControlByte="#x0" Enable="0">Inputs</Sm>
+ <RxPdo Fixed="1" Sm="2">
+ <Index>#x1600</Index>
+ <Name>PWM Outputs Channel 1</Name>
+ <Exclude>#x1602</Exclude>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>PWM output</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Sm="2">
+ <Index>#x1601</Index>
+ <Name>PWM Outputs Channel 2</Name>
+ <Exclude>#x1603</Exclude>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>PWM output</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1602</Index>
+ <Name>PWM Outputs Channel 1</Name>
+ <Exclude>#x1600</Exclude>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>PWM output</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>18</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>PWM period</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1603</Index>
+ <Name>PWM Outputs Channel 2</Name>
+ <Exclude>#x1601</Exclude>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>PWM output</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>18</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>PWM period</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <Mailbox DataLinkLayer="true">
+ <CoE SdoInfo="1" PdoAssign="1"/>
+ <FoE/>
+ </Mailbox>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0500030000000000000000000000</ConfigData>
+ <BootStrap>0010f400f410f400</BootStrap>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x09d93052" RevisionNo="#x00000000">EL2521</Type>
+ <Name LcId="1033"><![CDATA[EL2521 1Ch. Pulse Train Output]]></Name>
+ <Name LcId="1031"><![CDATA[EL2521 1K. Pulse Train Ausgang]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>280</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Profile>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>252</AddInfo>
+ <Dictionary>
+ <DataTypes>
+ <DataType>
+ <Name>BOOL</Name>
+ <BitSize>1</BitSize>
+ </DataType>
+ <DataType>
+ <Name>USINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UINT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UDINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>STRING(11)</Name>
+ <BitSize>88</BitSize>
+ </DataType>
+ <DataType>
+ <Name>STRING(16)</Name>
+ <BitSize>128</BitSize>
+ </DataType>
+ <DataType>
+ <Name>STRING(2)</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DT0029</Name>
+ <BitSize>16</BitSize>
+ <EnumInfo>
+ <Text>Free Run</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Synchron</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>SYNC0 Event</Text>
+ <Enum>2</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0800</Name>
+ <BitSize>1</BitSize>
+ <EnumInfo>
+ <Text>10 Hz</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>1 kHz</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0801</Name>
+ <BitSize>2</BitSize>
+ <EnumInfo>
+ <Text>Frequency mod.</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Pulse-dir. ctrl</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Incremental enc.</Text>
+ <Enum>2</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1011ARR</Name>
+ <BaseType>UDINT</BaseType>
+ <BitSize>32</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>1</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1011</Name>
+ <BitSize>48</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>No of Elements</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1011ARR</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1018</Name>
+ <BitSize>144</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>No of Elements</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ </Flags>
+ </SubItem>
+ <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>DT1600</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>No of Elements</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>RxPDO Mapping Element 1: Ctrl</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>RxPDO Mapping Element 2: Data Out</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1A00</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>No of Elements</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>TxPDO Mapping Element 1: Status</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>TxPDO Mapping Element 2: Data In</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</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>No of Elements</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1C00ARR</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C12</Name>
+ <BitSize>32</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>No of Elements</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <MinValue>0</MinValue>
+ <MaxValue>1</MaxValue>
+ <DefaultValue>1</DefaultValue>
+ <Flags>
+ <Access>rw</Access>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Assigned RxPDO</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <MinValue>#x1600</MinValue>
+ <MaxValue>#x1600</MaxValue>
+ <DefaultValue>#x1600</DefaultValue>
+ <Flags>
+ <Access>rw</Access>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C13</Name>
+ <BitSize>32</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>No of Elements</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <MinValue>0</MinValue>
+ <MaxValue>1</MaxValue>
+ <DefaultValue>1</DefaultValue>
+ <Flags>
+ <Access>rw</Access>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Assigned TxPDO</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <MinValue>#x1600</MinValue>
+ <MaxValue>#x1600</MaxValue>
+ <DefaultValue>#x1600</DefaultValue>
+ <Flags>
+ <Access>rw</Access>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6000</Name>
+ <BitSize>48</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>No of Elements</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ </Flags>
+ </SubItem>
+ <SubItem>
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+ </DataType>
+ <DataType>
+ <Name>DT0800EN01</Name>
+ <BaseType>BOOL</BaseType>
+ <BitSize>1</BitSize>
+ <EnumInfo>
+ <Text>10 Hz</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>1 kHz</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0801EN02</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>2</BitSize>
+ <EnumInfo>
+ <Text>Frequency mod.</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Pulse-dir. ctrl</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Incremental enc.</Text>
+ <Enum>2</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0802EN01</Name>
+ <BaseType>BOOL</BaseType>
+ <BitSize>1</BitSize>
+ <EnumInfo>
+ <Text>10 Hz</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>1 kHz</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0803EN02</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>2</BitSize>
+ <EnumInfo>
+ <Text>Frequency mod.</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Pulse-dir. ctrl</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Incremental enc.</Text>
+ <Enum>2</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1011ARR</Name>
+ <BaseType>UDINT</BaseType>
+ <BitSize>32</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>1</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1011</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>DT1011ARR</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1018</Name>
+ <BitSize>144</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Vendor ID</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Product code</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Revision</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>80</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Serial number</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT10F0</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>Checksum</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1400</Name>
+ <BitSize>96</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>6</SubIdx>
+ <Name>Exclude RxPDOs</Name>
+ <Type>ARRAY [0..9] OF BYTE</Type>
+ <BitSize>80</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1600</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>DT1601</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>DT1602</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>DT1604</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>SubIndex 001</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1800</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>
+ <SubIdx>6</SubIdx>
+ <Name>Exclude TxPDOs</Name>
+ <Type>ARRAY [0..5] OF BYTE</Type>
+ <BitSize>48</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1801</Name>
+ <BitSize>72</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>6</SubIdx>
+ <Name>Exclude TxPDOs</Name>
+ <Type>ARRAY [0..5] OF BYTE</Type>
+ <BitSize>48</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>TxPDO-Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1A01</Name>
+ <BitSize>336</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>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>SubIndex 007</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>208</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>SubIndex 008</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>240</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>SubIndex 009</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>272</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>SubIndex 010</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>304</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>
+ <Name>DT1C12ARR</Name>
+ <BaseType>UINT</BaseType>
+ <BitSize>48</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>3</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1C12</Name>
+ <BitSize>64</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1C12ARR</Type>
+ <BitSize>48</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>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>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1C13ARR</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C32</Name>
+ <BitSize>280</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>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>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>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>Command</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>176</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Delay time</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>192</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>SM event missed counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>224</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>12</SubIdx>
+ <Name>Cycle exceeded counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>240</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>Shift too short counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>256</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>32</SubIdx>
+ <Name>Sync error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>272</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6000</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>Status</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Data In</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6010</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>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Sel. Ack/End counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Ramp active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Status of input target</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Status of input zero</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Sync Error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>21</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>TxPDO Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6020</Name>
+ <BitSize>56</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>3</SubIdx>
+ <Name>Set counter done</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Counter underflow</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Counter overflow</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Sync Error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>TxPDO Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7000</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>Ctrl</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Data Out</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7010</Name>
+ <BitSize>72</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>Frequency select</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Disable ramp</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Go counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Frequency value</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>Target counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>40</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7020</Name>
+ <BitSize>56</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>3</SubIdx>
+ <Name>Set counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Set counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8000</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>2</SubIdx>
+ <Name>Emergency ramp active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Watchdog timer deactive</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Sign/amount representation</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Rising edge clears/sets counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Ramp function active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Ramp base frequency</Name>
+ <Type>DT0800EN01</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>21</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Direct input mode</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Users switch-on-value on wdt</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>23</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>Travel distance control active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>Rising edge sets counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>25</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Operating mode</Name>
+ <Type>DT0801EN02</Type>
+ <BitSize>2</BitSize>
+ <BitOffs>26</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>15</SubIdx>
+ <Name>Negative logic</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>28</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8001</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>Users switch-on-value</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Base frequency 1</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Base frequency 2</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Ramp time constant (rising)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>96</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Ramp time constant (falling)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Frequency factor (Digit x 10mHz)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>128</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Slowing down frequency</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>144</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Ramp time constant (emergency)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>160</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8010</Name>
+ <BitSize>192</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>2</SubIdx>
+ <Name>Emergency ramp active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Watchdog timer deactive</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Sign/amount representation</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Ramp function active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Ramp base frequency</Name>
+ <Type>DT0802EN01</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Direct input mode</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>21</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Users switch-on-value on wdt</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>Travel distance control active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>23</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Operating mode</Name>
+ <Type>DT0803EN02</Type>
+ <BitSize>2</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
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+ <Name>Direct input mode</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
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+ <Info>
+ <DefaultData>00</DefaultData>
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+ <Name>Travel distance control active</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
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+ <Name>Operating mode</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
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+ <DefaultData>00</DefaultData>
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+ <Name>Users switch-on-value</Name>
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+ <DefaultData>0000</DefaultData>
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+ <MaxValue>500000</MaxValue>
+ <DefaultValue>50000</DefaultValue>
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+ </SubItem>
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+ <MinValue>100</MinValue>
+ <MaxValue>500000</MaxValue>
+ <DefaultValue>100000</DefaultValue>
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+ <Name>Ramp time constant (rising)</Name>
+ <Info>
+ <DefaultData>e803</DefaultData>
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+ <Name>Ramp time constant (falling)</Name>
+ <Info>
+ <DefaultData>e803</DefaultData>
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+ <Name>Frequency factor (Digit x 10mHz)</Name>
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+ <MinValue>1</MinValue>
+ <MaxValue>65535</MaxValue>
+ <DefaultValue>100</DefaultValue>
+ </Info>
+ </SubItem>
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+ <Name>Slowing down frequency</Name>
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+ <MinValue>0</MinValue>
+ <MaxValue>32767</MaxValue>
+ <DefaultValue>50</DefaultValue>
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+ <Name>Ramp time constant (emergency)</Name>
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+ <DefaultData>e803</DefaultData>
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+ <Access>rw</Access>
+ <Category>o</Category>
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+ <Index>#x8800</Index>
+ <Name>Volatile settings</Name>
+ <Type>DT8800</Type>
+ <BitSize>64</BitSize>
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+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
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+ <Name>Target counter state</Name>
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+ <DefaultData>00000000</DefaultData>
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+ <Name>Maximum frequency</Name>
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+ <MinValue>0</MinValue>
+ <MaxValue>32767</MaxValue>
+ <DefaultValue>0</DefaultValue>
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+ <Access>rw</Access>
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+ <DefaultData>0000</DefaultData>
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+ <Access>ro</Access>
+ <Category>o</Category>
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+ <Object>
+ <Index>#xf000</Index>
+ <Name>Modular device profile</Name>
+ <Type>DTF000</Type>
+ <BitSize>48</BitSize>
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+ <SubItem>
+ <Name>SubIndex 000</Name>
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+ <DefaultData>02</DefaultData>
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+ <Name>Module index distance</Name>
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+ <Name>Maximum number of modules</Name>
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+ <DefaultData>0300</DefaultData>
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+ <Access>ro</Access>
+ <Category>o</Category>
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+ <Index>#xf008</Index>
+ <Name>Code word</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
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+ <DefaultData>00000000</DefaultData>
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+ <Access>rw</Access>
+ <Category>o</Category>
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+ <Name>SubIndex 000</Name>
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+ <DefaultData>03</DefaultData>
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+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ </Objects>
+ </Dictionary>
+ </Profile>
+ <Fmmu>Outputs</Fmmu>
+ <Fmmu>Inputs</Fmmu>
+ <Fmmu>MBoxState</Fmmu>
+ <Sm MinSize="64" MaxSize="128" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+ <Sm MinSize="64" MaxSize="128" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+ <Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+ <Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
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+ <Name>Outputs</Name>
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+ <Exclude>#x1604</Exclude>
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+ <Exclude>#x1602</Exclude>
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+ <Entry>
+ <Index>#x7000</Index>
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+ <BitLen>16</BitLen>
+ <Name>Ctrl</Name>
+ <DataType>UINT</DataType>
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+ <Index>#x7000</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Data Out</Name>
+ <DataType>UINT</DataType>
+ </Entry>
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+ <Index>#x1601</Index>
+ <Name>PTO Control</Name>
+ <Exclude>#x1600</Exclude>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Frequency select</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Disable ramp</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Go counter</Name>
+ <DataType>BOOL</DataType>
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+ <Index>#x7010</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Frequency value</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
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+ <Name>PTO Target compact</Name>
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+ <Exclude>#x1605</Exclude>
+ <Exclude>#x1607</Exclude>
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+ <Index>#x7010</Index>
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+ <Name>Target counter value</Name>
+ <DataType>UINT</DataType>
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+ <Name>PTO Target</Name>
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+ <Exclude>#x1604</Exclude>
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+ <Index>#x7010</Index>
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+ <BitLen>32</BitLen>
+ <Name>Target counter value</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
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+ <RxPdo Fixed="1">
+ <Index>#x1602</Index>
+ <Name>ENC Control compact</Name>
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+ <Exclude>#x1607</Exclude>
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+ <Index>#x0</Index>
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+ <Name>Set counter</Name>
+ <DataType>BOOL</DataType>
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+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Set counter value</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1605</Index>
+ <Name>ENC Control</Name>
+ <Exclude>#x1600</Exclude>
+ <Exclude>#x1602</Exclude>
+ <Exclude>#x1604</Exclude>
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+ <Index>#x0</Index>
+ <BitLen>2</BitLen>
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+ <Index>#x7020</Index>
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+ <Name>Set counter</Name>
+ <DataType>BOOL</DataType>
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+ <Index>#x0</Index>
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+ <BitLen>32</BitLen>
+ <Name>Set counter value</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ </RxPdo>
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+ <Index>#x1a00</Index>
+ <Name>Inputs</Name>
+ <Exclude>#x1a01</Exclude>
+ <Exclude>#x1a02</Exclude>
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+ <Index>#x6000</Index>
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+ <DataType>UINT</DataType>
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+ <Index>#x6000</Index>
+ <SubIndex>2</SubIndex>
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+ <Name>Data In</Name>
+ <DataType>UINT</DataType>
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+ </TxPdo>
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+ <Index>#x1a01</Index>
+ <Name>PTO Status</Name>
+ <Exclude>#x1a00</Exclude>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Sel. Ack/End counter</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Ramp active</Name>
+ <DataType>BOOL</DataType>
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+ <Index>#x0</Index>
+ <BitLen>2</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
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+ <BitLen>1</BitLen>
+ <Name>Status of input target</Name>
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+ <Index>#x6010</Index>
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+ <Name>Status of input zero</Name>
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+ <Index>#x6010</Index>
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+ <Name>Sync Error</Name>
+ <DataType>BOOL</DataType>
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+ <Index>#x0</Index>
+ <BitLen>1</BitLen>
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+ <Index>#x1801</Index>
+ <SubIndex>9</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>TxPDO Toggle</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1">
+ <Index>#x1a02</Index>
+ <Name>ENC Status compact</Name>
+ <Exclude>#x1a05</Exclude>
+ <Exclude>#x1a00</Exclude>
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+ <Index>#x0</Index>
+ <BitLen>2</BitLen>
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+ <Index>#x6020</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Set counter done</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
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+ <Index>#x6020</Index>
+ <SubIndex>4</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Counter underflow</Name>
+ <DataType>BOOL</DataType>
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+ <Index>#x6020</Index>
+ <SubIndex>5</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Counter overflow</Name>
+ <DataType>BOOL</DataType>
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+ <Index>#x0</Index>
+ <BitLen>3</BitLen>
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+ <Index>#x1c32</Index>
+ <SubIndex>32</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Sync Error</Name>
+ <DataType>BOOL</DataType>
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+ <Index>#x0</Index>
+ <BitLen>1</BitLen>
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+ <Index>#x1802</Index>
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+ <BitLen>1</BitLen>
+ <Name>TxPDO Toggle</Name>
+ <DataType>BOOL</DataType>
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+ <Index>#x6020</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Counter value</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1">
+ <Index>#x1a05</Index>
+ <Name>ENC Status</Name>
+ <Exclude>#x1a02</Exclude>
+ <Exclude>#x1a00</Exclude>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>2</BitLen>
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+ <Index>#x6020</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Set counter done</Name>
+ <DataType>BOOL</DataType>
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+ <Index>#x6020</Index>
+ <SubIndex>4</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Counter underflow</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
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+ <Index>#x6020</Index>
+ <SubIndex>5</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Counter overflow</Name>
+ <DataType>BOOL</DataType>
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+ <Index>#x0</Index>
+ <BitLen>3</BitLen>
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+ <BitLen>5</BitLen>
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+ <Index>#x1c32</Index>
+ <SubIndex>32</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Sync Error</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
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+ <Index>#x0</Index>
+ <BitLen>1</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x1805</Index>
+ <SubIndex>9</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>TxPDO Toggle</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Counter value</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ </TxPdo>
+ <Mailbox DataLinkLayer="true">
+ <CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+ <FoE/>
+ </Mailbox>
+ <Dc>
+ <OpMode>
+ <Name>Synchron</Name>
+ <Desc>FreeRun/SM-Synchron</Desc>
+ <AssignActivate>#x0</AssignActivate>
+ <CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ </OpMode>
+ <OpMode>
+ <Name>DC</Name>
+ <Desc>DC-Synchron</Desc>
+ <AssignActivate>#x300</AssignActivate>
+ <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ </OpMode>
+ </Dc>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0500030c32000000000000000000</ConfigData>
+ <BootStrap>0010f400f410f400</BootStrap>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x09d93052" RevisionNo="#x3F90000">EL2521</Type>
+ <HideType RevisionNo="#x3F80000"/>
+ <Name LcId="1033">EL2521 1Ch. Pulse Train Output</Name>
+ <Name LcId="1031">EL2521 1K. Pulse Train Ausgang</Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>280</EBusCurrent>
+ </Electrical>
+ <Mailbox>
+ <Timeout>
+ <RequestTimeout>100</RequestTimeout>
+ <ResponseTimeout>2000</ResponseTimeout>
+ </Timeout>
+ </Mailbox>
+ <VendorSpecific>
+ <TwinCAT>
+ <AlternativeSmMapping>
+ <Name>Legacy (MDP 252)</Name>
+ <Sm No="2">
+ <Pdo>#x1600</Pdo>
+ </Sm>
+ <Sm No="3">
+ <Pdo>#x1a00</Pdo>
+ </Sm>
+ </AlternativeSmMapping>
+ <AlternativeSmMapping Default="1">
+ <Name>Standard 16 Bit (MDP 253/511)</Name>
+ <Sm No="2">
+ <Pdo>#x1601</Pdo>
+ <Pdo>#x1604</Pdo>
+ <Pdo>#x1602</Pdo>
+ </Sm>
+ <Sm No="3">
+ <Pdo>#x1a01</Pdo>
+ <Pdo>#x1a02</Pdo>
+ </Sm>
+ </AlternativeSmMapping>
+ <AlternativeSmMapping>
+ <Name>Standard 32 Bit (MDP 253/511)</Name>
+ <Sm No="2">
+ <Pdo>#x1601</Pdo>
+ <Pdo>#x1607</Pdo>
+ <Pdo>#x1605</Pdo>
+ </Sm>
+ <Sm No="3">
+ <Pdo>#x1a01</Pdo>
+ <Pdo>#x1a05</Pdo>
+ </Sm>
+ </AlternativeSmMapping>
+ </TwinCAT>
+ </VendorSpecific>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Profile>
+ <ChannelInfo>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>252</AddInfo>
+ </ChannelInfo>
+ <ChannelInfo>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>253</AddInfo>
+ </ChannelInfo>
+ <ChannelInfo>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>511</AddInfo>
+ </ChannelInfo>
+ <Dictionary>
+ <DataTypes>
+ <DataType>
+ <Name>BIT2</Name>
+ <BitSize>0</BitSize>
+ </DataType>
+ <DataType>
+ <Name>BOOL</Name>
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+ </DataType>
+ <DataType>
+ <Name>BYTE</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UDINT</Name>
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+ </DataType>
+ <DataType>
+ <Name>UINT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>USINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>ARRAY [0..5] OF BYTE</Name>
+ <BaseType>BYTE</BaseType>
+ <BitSize>48</BitSize>
+ <ArrayInfo>
+ <LBound>0</LBound>
+ <Elements>6</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>ARRAY [0..9] OF BYTE</Name>
+ <BaseType>BYTE</BaseType>
+ <BitSize>80</BitSize>
+ <ArrayInfo>
+ <LBound>0</LBound>
+ <Elements>10</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>STRING(2)</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>STRING(6)</Name>
+ <BitSize>48</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DT0800EN01</Name>
+ <BaseType>BOOL</BaseType>
+ <BitSize>1</BitSize>
+ <EnumInfo>
+ <Text>10 Hz</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>1 kHz</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0801EN02</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>2</BitSize>
+ <EnumInfo>
+ <Text>Frequency mod.</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Pulse-dir. ctrl</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Incremental enc.</Text>
+ <Enum>2</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0802EN01</Name>
+ <BaseType>BOOL</BaseType>
+ <BitSize>1</BitSize>
+ <EnumInfo>
+ <Text>10 Hz</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>1 kHz</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0803EN02</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>2</BitSize>
+ <EnumInfo>
+ <Text>Frequency mod.</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Pulse-dir. ctrl</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Incremental enc.</Text>
+ <Enum>2</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1011ARR</Name>
+ <BaseType>UDINT</BaseType>
+ <BitSize>32</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>1</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1011</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>DT1011ARR</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1018</Name>
+ <BitSize>144</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Vendor ID</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Product code</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Revision</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>80</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Serial number</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT10F0</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>Checksum</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1400</Name>
+ <BitSize>96</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>6</SubIdx>
+ <Name>Exclude RxPDOs</Name>
+ <Type>ARRAY [0..9] OF BYTE</Type>
+ <BitSize>80</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1600</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>DT1601</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>DT1602</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>DT1604</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>SubIndex 001</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1800</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>
+ <SubIdx>6</SubIdx>
+ <Name>Exclude TxPDOs</Name>
+ <Type>ARRAY [0..5] OF BYTE</Type>
+ <BitSize>48</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1801</Name>
+ <BitSize>72</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>6</SubIdx>
+ <Name>Exclude TxPDOs</Name>
+ <Type>ARRAY [0..5] OF BYTE</Type>
+ <BitSize>48</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>TxPDO-Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1A01</Name>
+ <BitSize>336</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>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>SubIndex 007</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>208</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>SubIndex 008</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>240</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>SubIndex 009</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>272</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>SubIndex 010</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>304</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>
+ <Name>DT1C12ARR</Name>
+ <BaseType>UINT</BaseType>
+ <BitSize>48</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>3</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1C12</Name>
+ <BitSize>64</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1C12ARR</Type>
+ <BitSize>48</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>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>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1C13ARR</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C32</Name>
+ <BitSize>280</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>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>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>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>Command</Name>
+ <Type>UINT</Type>
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+ <BitOffs>176</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Delay time</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>192</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>SM event missed counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>224</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>12</SubIdx>
+ <Name>Cycle exceeded counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>240</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>Shift too short counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>256</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>32</SubIdx>
+ <Name>Sync error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>272</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6000</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>Status</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Data In</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6010</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>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Sel. Ack/End counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Ramp active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Status of input target</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Status of input zero</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Sync Error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>21</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>TxPDO Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6020</Name>
+ <BitSize>56</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>3</SubIdx>
+ <Name>Set counter done</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Counter underflow</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Counter overflow</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Sync Error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>TxPDO Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7000</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>Ctrl</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Data Out</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7010</Name>
+ <BitSize>72</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>Frequency select</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Disable ramp</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Go counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Frequency value</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>Target counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>40</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7020</Name>
+ <BitSize>56</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>3</SubIdx>
+ <Name>Set counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Set counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8000</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>2</SubIdx>
+ <Name>Emergency ramp active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Watchdog timer deactive</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Sign/amount representation</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Rising edge clears/sets counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Ramp function active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Ramp base frequency</Name>
+ <Type>DT0800EN01</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>21</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Direct input mode</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Users switch-on-value on wdt</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>23</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>Travel distance control active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>Rising edge sets counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>25</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Operating mode</Name>
+ <Type>DT0801EN02</Type>
+ <BitSize>2</BitSize>
+ <BitOffs>26</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>15</SubIdx>
+ <Name>Negative logic</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>28</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8001</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>Users switch-on-value</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Base frequency 1</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Base frequency 2</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Ramp time constant (rising)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>96</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Ramp time constant (falling)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Frequency factor (Digit x 10mHz)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>128</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Slowing down frequency</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>144</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Ramp time constant (emergency)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>160</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8010</Name>
+ <BitSize>192</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>2</SubIdx>
+ <Name>Emergency ramp active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Watchdog timer deactive</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Sign/amount representation</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Ramp function active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Ramp base frequency</Name>
+ <Type>DT0802EN01</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Direct input mode</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>21</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Users switch-on-value on wdt</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>Travel distance control active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>23</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Operating mode</Name>
+ <Type>DT0803EN02</Type>
+ <BitSize>2</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>Negative logic</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>26</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Users switch-on-value</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>Base frequency 1</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
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+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Base frequency 1</Name>
+ <Info>
+ <MinValue>100</MinValue>
+ <MaxValue>500000</MaxValue>
+ <DefaultValue>50000</DefaultValue>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Base frequency 2</Name>
+ <Info>
+ <MinValue>100</MinValue>
+ <MaxValue>500000</MaxValue>
+ <DefaultValue>100000</DefaultValue>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Ramp time constant (rising)</Name>
+ <Info>
+ <DefaultData>e803</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Ramp time constant (falling)</Name>
+ <Info>
+ <DefaultData>e803</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Frequency factor (Digit x 10mHz)</Name>
+ <Info>
+ <MinValue>1</MinValue>
+ <MaxValue>65535</MaxValue>
+ <DefaultValue>100</DefaultValue>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Slowing down frequency</Name>
+ <Info>
+ <MinValue>0</MinValue>
+ <MaxValue>32767</MaxValue>
+ <DefaultValue>50</DefaultValue>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Ramp time constant (emergency)</Name>
+ <Info>
+ <DefaultData>e803</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x8800</Index>
+ <Name>Volatile settings</Name>
+ <Type>DT8800</Type>
+ <BitSize>64</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Target counter state</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Maximum frequency</Name>
+ <Info>
+ <MinValue>0</MinValue>
+ <MaxValue>32767</MaxValue>
+ <DefaultValue>0</DefaultValue>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#xa000</Index>
+ <Name>Diagnostic parameter</Name>
+ <Type>DTA000</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>01</DefaultData>
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+ <SubItem>
+ <Name>Counter extension</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
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+ </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>
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+ </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>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
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+ <Object>
+ <Index>#xf008</Index>
+ <Name>Code word</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>00000000</DefaultData>
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+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
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+ <Index>#xf010</Index>
+ <Name>Module list</Name>
+ <Type>DTF010</Type>
+ <BitSize>112</BitSize>
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+ <Name>SubIndex 000</Name>
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+ <DefaultData>03</DefaultData>
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+ </Info>
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+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ </Objects>
+ </Dictionary>
+ </Profile>
+ <Fmmu>Outputs</Fmmu>
+ <Fmmu>Inputs</Fmmu>
+ <Fmmu>MBoxState</Fmmu>
+ <Sm MinSize="64" MaxSize="128" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+ <Sm MinSize="64" MaxSize="128" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+ <Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+ <Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+ <RxPdo Fixed="1" Sm="2">
+ <Index>#x1600</Index>
+ <Name>Outputs</Name>
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+ <Exclude>#x1604</Exclude>
+ <Exclude>#x1607</Exclude>
+ <Exclude>#x1602</Exclude>
+ <Exclude>#x1605</Exclude>
+ <Entry>
+ <Index>#x7000</Index>
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+ <BitLen>16</BitLen>
+ <Name>Ctrl</Name>
+ <DataType>UINT</DataType>
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+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Data Out</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1601</Index>
+ <Name>PTO Control</Name>
+ <Exclude>#x1600</Exclude>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Control__Frequency select</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Control__Disable ramp</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Control__Go counter</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>5</BitLen>
+ <Name>Control__</Name>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>8</BitLen>
+ <Name>Control__</Name>
+ </Entry>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Frequency value</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1604</Index>
+ <Name>PTO Target compact</Name>
+ <Exclude>#x1600</Exclude>
+ <Exclude>#x1605</Exclude>
+ <Exclude>#x1607</Exclude>
+ <Entry>
+ <Index>#x7010</Index>
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+ <BitLen>16</BitLen>
+ <Name>Target counter value</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1607</Index>
+ <Name>PTO Target</Name>
+ <Exclude>#x1600</Exclude>
+ <Exclude>#x1602</Exclude>
+ <Exclude>#x1604</Exclude>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>18</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Target counter value</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1602</Index>
+ <Name>ENC Control compact</Name>
+ <Exclude>#x1600</Exclude>
+ <Exclude>#x1605</Exclude>
+ <Exclude>#x1607</Exclude>
+ <Entry>
+ <Index>#x0</Index>
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+ <Name>Control__</Name>
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+ <Entry>
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+ <Name>Control__Set counter</Name>
+ <DataType>BOOL</DataType>
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+ <Index>#x0</Index>
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+ <Name>Control__</Name>
+ </Entry>
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+ <Name>Control__</Name>
+ </Entry>
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+ <Index>#x7020</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Set counter value</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1605</Index>
+ <Name>ENC Control</Name>
+ <Exclude>#x1600</Exclude>
+ <Exclude>#x1602</Exclude>
+ <Exclude>#x1604</Exclude>
+ <Entry>
+ <Index>#x0</Index>
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+ <Name>Control__</Name>
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+ <Index>#x7020</Index>
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+ <BitLen>1</BitLen>
+ <Name>Control__Set counter</Name>
+ <DataType>BOOL</DataType>
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+ <Index>#x0</Index>
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+ <Name>Control__</Name>
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+ <Entry>
+ <Index>#x0</Index>
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+ <Name>Control__</Name>
+ </Entry>
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+ <Index>#x7020</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Set counter value</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ </RxPdo>
+ <TxPdo Fixed="1" Sm="3">
+ <Index>#x1a00</Index>
+ <Name>Inputs</Name>
+ <Exclude>#x1a01</Exclude>
+ <Exclude>#x1a02</Exclude>
+ <Exclude>#x1a05</Exclude>
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+ <Index>#x6000</Index>
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+ <Name>Status</Name>
+ <DataType>UINT</DataType>
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+ <Index>#x6000</Index>
+ <SubIndex>2</SubIndex>
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+ <Name>Data In</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1">
+ <Index>#x1a01</Index>
+ <Name>PTO Status</Name>
+ <Exclude>#x1a00</Exclude>
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+ <Index>#x6010</Index>
+ <SubIndex>1</SubIndex>
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+ <Name>Status__Sel. Ack/End counter</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__Ramp active</Name>
+ <DataType>BOOL</DataType>
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+ <Index>#x0</Index>
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+ <Name>Status__</Name>
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+ <Index>#x6010</Index>
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+ <Name>Status__Status of input target</Name>
+ <DataType>BOOL</DataType>
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+ <Index>#x6010</Index>
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+ <Name>Status__Status of input zero</Name>
+ <DataType>BOOL</DataType>
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+ <Index>#x6010</Index>
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+ <Name>Status__Error</Name>
+ <DataType>BOOL</DataType>
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+ <Index>#x0</Index>
+ <BitLen>6</BitLen>
+ <Name>Status__</Name>
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+ <Index>#x1c32</Index>
+ <SubIndex>32</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__Sync Error</Name>
+ <DataType>BOOL</DataType>
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+ <Index>#x0</Index>
+ <BitLen>1</BitLen>
+ <Name>Status__</Name>
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+ <Index>#x1801</Index>
+ <SubIndex>9</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__TxPDO Toggle</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1">
+ <Index>#x1a02</Index>
+ <Name>ENC Status compact</Name>
+ <Exclude>#x1a05</Exclude>
+ <Exclude>#x1a00</Exclude>
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+ <Index>#x0</Index>
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+ <Name>Status__Set counter done</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
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+ <Index>#x6020</Index>
+ <SubIndex>4</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__Counter underflow</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
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+ <Index>#x6020</Index>
+ <SubIndex>5</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__Counter overflow</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
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+ <Index>#x0</Index>
+ <BitLen>3</BitLen>
+ <Name>Status__</Name>
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+ <Name>Status__</Name>
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+ <Name>Status__Sync Error</Name>
+ <DataType>BOOL</DataType>
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+ <Index>#x0</Index>
+ <BitLen>1</BitLen>
+ <Name>Status__</Name>
+ </Entry>
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+ <Index>#x1802</Index>
+ <SubIndex>9</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__TxPDO Toggle</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
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+ <Index>#x6020</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Counter value</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1">
+ <Index>#x1a05</Index>
+ <Name>ENC Status</Name>
+ <Exclude>#x1a02</Exclude>
+ <Exclude>#x1a00</Exclude>
+ <Entry>
+ <Index>#x0</Index>
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+ <BitLen>1</BitLen>
+ <Name>Status__Set counter done</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
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+ <Index>#x6020</Index>
+ <SubIndex>4</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__Counter underflow</Name>
+ <DataType>BOOL</DataType>
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+ <Index>#x6020</Index>
+ <SubIndex>5</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__Counter overflow</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
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+ <Index>#x0</Index>
+ <BitLen>3</BitLen>
+ <Name>Status__</Name>
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+ <Index>#x0</Index>
+ <BitLen>5</BitLen>
+ <Name>Status__</Name>
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+ <Index>#x1c32</Index>
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+ <BitLen>1</BitLen>
+ <Name>Status__Sync Error</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
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+ <Index>#x0</Index>
+ <BitLen>1</BitLen>
+ <Name>Status__</Name>
+ </Entry>
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+ <Index>#x1805</Index>
+ <SubIndex>9</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__TxPDO Toggle</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Counter value</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ </TxPdo>
+ <Mailbox DataLinkLayer="true">
+ <CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+ <FoE/>
+ </Mailbox>
+ <Dc>
+ <OpMode>
+ <Name>Synchron</Name>
+ <Desc>FreeRun/SM-Synchron</Desc>
+ <AssignActivate>#x0</AssignActivate>
+ <CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ </OpMode>
+ <OpMode>
+ <Name>DC</Name>
+ <Desc>DC-Synchron</Desc>
+ <AssignActivate>#x300</AssignActivate>
+ <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ </OpMode>
+ </Dc>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0500030c32000000000000000000</ConfigData>
+ <BootStrap>0010f400f410f400</BootStrap>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x09d93052" RevisionNo="#x03FA0000">EL2521</Type>
+ <HideType RevisionNo="#x00000000"/>
+ <HideType RevisionNo="#x03F80000"/>
+ <HideType RevisionNo="#x03F90000"/>
+ <Name LcId="1033">EL2521 1Ch. Pulse Train Output</Name>
+ <Name LcId="1031">EL2521 1K. Pulse Train Ausgang</Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>280</EBusCurrent>
+ </Electrical>
+ <Mailbox>
+ <Timeout>
+ <RequestTimeout>100</RequestTimeout>
+ <ResponseTimeout>2000</ResponseTimeout>
+ </Timeout>
+ </Mailbox>
+ <VendorSpecific>
+ <TwinCAT>
+ <AlternativeSmMapping>
+ <Name>Legacy (MDP 252)</Name>
+ <Sm No="2">
+ <Pdo>#x1600</Pdo>
+ </Sm>
+ <Sm No="3">
+ <Pdo>#x1a00</Pdo>
+ </Sm>
+ </AlternativeSmMapping>
+ <AlternativeSmMapping Default="1">
+ <Name>Standard 16 Bit (MDP 253/511)</Name>
+ <Sm No="2">
+ <Pdo>#x1601</Pdo>
+ <Pdo>#x1604</Pdo>
+ <Pdo>#x1602</Pdo>
+ </Sm>
+ <Sm No="3">
+ <Pdo>#x1a01</Pdo>
+ <Pdo>#x1a02</Pdo>
+ </Sm>
+ </AlternativeSmMapping>
+ <AlternativeSmMapping>
+ <Name>Standard 32 Bit (MDP 253/511)</Name>
+ <Sm No="2">
+ <Pdo>#x1601</Pdo>
+ <Pdo>#x1607</Pdo>
+ <Pdo>#x1605</Pdo>
+ </Sm>
+ <Sm No="3">
+ <Pdo>#x1a01</Pdo>
+ <Pdo>#x1a05</Pdo>
+ </Sm>
+ </AlternativeSmMapping>
+ </TwinCAT>
+ </VendorSpecific>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Profile>
+ <ChannelInfo>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>252</AddInfo>
+ </ChannelInfo>
+ <ChannelInfo>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>253</AddInfo>
+ </ChannelInfo>
+ <ChannelInfo>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>511</AddInfo>
+ </ChannelInfo>
+ <Dictionary>
+ <DataTypes>
+ <DataType>
+ <Name>BIT2</Name>
+ <BitSize>0</BitSize>
+ </DataType>
+ <DataType>
+ <Name>BOOL</Name>
+ <BitSize>1</BitSize>
+ </DataType>
+ <DataType>
+ <Name>BYTE</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UDINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UINT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>USINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>ARRAY [0..5] OF BYTE</Name>
+ <BaseType>BYTE</BaseType>
+ <BitSize>48</BitSize>
+ <ArrayInfo>
+ <LBound>0</LBound>
+ <Elements>6</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>ARRAY [0..9] OF BYTE</Name>
+ <BaseType>BYTE</BaseType>
+ <BitSize>80</BitSize>
+ <ArrayInfo>
+ <LBound>0</LBound>
+ <Elements>10</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>STRING(2)</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>STRING(6)</Name>
+ <BitSize>48</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DT0800EN01</Name>
+ <BaseType>BOOL</BaseType>
+ <BitSize>1</BitSize>
+ <EnumInfo>
+ <Text>10 Hz</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>1 kHz</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0801EN02</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>2</BitSize>
+ <EnumInfo>
+ <Text>Frequency mod.</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Pulse-dir. ctrl</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Incremental enc.</Text>
+ <Enum>2</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0802EN01</Name>
+ <BaseType>BOOL</BaseType>
+ <BitSize>1</BitSize>
+ <EnumInfo>
+ <Text>10 Hz</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>1 kHz</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0803EN02</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>2</BitSize>
+ <EnumInfo>
+ <Text>Frequency mod.</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Pulse-dir. ctrl</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Incremental enc.</Text>
+ <Enum>2</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1011ARR</Name>
+ <BaseType>UDINT</BaseType>
+ <BitSize>32</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>1</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1011</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>DT1011ARR</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1018</Name>
+ <BitSize>144</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Vendor ID</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Product code</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Revision</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>80</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Serial number</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT10F0</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>Checksum</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1400</Name>
+ <BitSize>96</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>6</SubIdx>
+ <Name>Exclude RxPDOs</Name>
+ <Type>ARRAY [0..9] OF BYTE</Type>
+ <BitSize>80</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1600</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>DT1601</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>DT1602</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>DT1604</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>SubIndex 001</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1800</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>
+ <SubIdx>6</SubIdx>
+ <Name>Exclude TxPDOs</Name>
+ <Type>ARRAY [0..5] OF BYTE</Type>
+ <BitSize>48</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1801</Name>
+ <BitSize>72</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>6</SubIdx>
+ <Name>Exclude TxPDOs</Name>
+ <Type>ARRAY [0..5] OF BYTE</Type>
+ <BitSize>48</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>TxPDO-Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1A01</Name>
+ <BitSize>336</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>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>SubIndex 007</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>208</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>SubIndex 008</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>240</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>SubIndex 009</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>272</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>SubIndex 010</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>304</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>
+ <Name>DT1C12ARR</Name>
+ <BaseType>UINT</BaseType>
+ <BitSize>48</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>3</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1C12</Name>
+ <BitSize>64</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1C12ARR</Type>
+ <BitSize>48</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>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>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1C13ARR</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C32</Name>
+ <BitSize>280</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>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>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>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>Command</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>176</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Delay time</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>192</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>SM event missed counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>224</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>12</SubIdx>
+ <Name>Cycle exceeded counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>240</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>Shift too short counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>256</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>32</SubIdx>
+ <Name>Sync error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>272</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6000</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>Status</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Data In</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6010</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>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Sel. Ack/End counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Ramp active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Status of input target</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Status of input zero</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Sync Error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>21</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>TxPDO Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6020</Name>
+ <BitSize>56</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>3</SubIdx>
+ <Name>Set counter done</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Counter underflow</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Counter overflow</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Sync Error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>TxPDO Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7000</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>Ctrl</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Data Out</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7010</Name>
+ <BitSize>72</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>Frequency select</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Disable ramp</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Go counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Frequency value</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>Target counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>40</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7020</Name>
+ <BitSize>56</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>3</SubIdx>
+ <Name>Set counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Set counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8000</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>2</SubIdx>
+ <Name>Emergency ramp active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Watchdog timer deactive</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Sign/amount representation</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Rising edge clears/sets counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Ramp function active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Ramp base frequency</Name>
+ <Type>DT0800EN01</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>21</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Direct input mode</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Users switch-on-value on wdt</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>23</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>Travel distance control active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>Rising edge sets counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>25</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Operating mode</Name>
+ <Type>DT0801EN02</Type>
+ <BitSize>2</BitSize>
+ <BitOffs>26</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>15</SubIdx>
+ <Name>Negative logic</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>28</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8001</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>Users switch-on-value</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Base frequency 1</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Base frequency 2</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Ramp time constant (rising)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>96</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Ramp time constant (falling)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Frequency factor (Digit x 10mHz)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>128</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Slowing down frequency</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>144</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Ramp time constant (emergency)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>160</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8010</Name>
+ <BitSize>192</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>2</SubIdx>
+ <Name>Emergency ramp active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Watchdog timer deactive</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Sign/amount representation</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Ramp function active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Ramp base frequency</Name>
+ <Type>DT0802EN01</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Direct input mode</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>21</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Users switch-on-value on wdt</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>Travel distance control active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>23</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Operating mode</Name>
+ <Type>DT0803EN02</Type>
+ <BitSize>2</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>Negative logic</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>26</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Users switch-on-value</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>Base frequency 1</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
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+ <Name>Base frequency 1</Name>
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+ <MinValue>100</MinValue>
+ <MaxValue>500000</MaxValue>
+ <DefaultValue>50000</DefaultValue>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Base frequency 2</Name>
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+ <MinValue>100</MinValue>
+ <MaxValue>500000</MaxValue>
+ <DefaultValue>100000</DefaultValue>
+ </Info>
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+ <SubItem>
+ <Name>Ramp time constant (rising)</Name>
+ <Info>
+ <DefaultData>e803</DefaultData>
+ </Info>
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+ <SubItem>
+ <Name>Ramp time constant (falling)</Name>
+ <Info>
+ <DefaultData>e803</DefaultData>
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+ </SubItem>
+ <SubItem>
+ <Name>Frequency factor (Digit x 10mHz)</Name>
+ <Info>
+ <MinValue>1</MinValue>
+ <MaxValue>65535</MaxValue>
+ <DefaultValue>100</DefaultValue>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Slowing down frequency</Name>
+ <Info>
+ <MinValue>0</MinValue>
+ <MaxValue>32767</MaxValue>
+ <DefaultValue>50</DefaultValue>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Ramp time constant (emergency)</Name>
+ <Info>
+ <DefaultData>e803</DefaultData>
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+ <Access>rw</Access>
+ <Category>o</Category>
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+ <Index>#x8800</Index>
+ <Name>Volatile settings</Name>
+ <Type>DT8800</Type>
+ <BitSize>64</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Target counter state</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
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+ </SubItem>
+ <SubItem>
+ <Name>Maximum frequency</Name>
+ <Info>
+ <MinValue>0</MinValue>
+ <MaxValue>32767</MaxValue>
+ <DefaultValue>0</DefaultValue>
+ </Info>
+ </SubItem>
+ </Info>
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+ <Access>rw</Access>
+ <Category>o</Category>
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+ <Index>#xa000</Index>
+ <Name>Diagnostic parameter</Name>
+ <Type>DTA000</Type>
+ <BitSize>32</BitSize>
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+ <Name>SubIndex 000</Name>
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+ <Name>Counter extension</Name>
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+ <DefaultData>0000</DefaultData>
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+ <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>
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+ <Name>Module index distance</Name>
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+ <SubItem>
+ <Name>Maximum number of modules</Name>
+ <Info>
+ <DefaultData>0300</DefaultData>
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+ <Access>ro</Access>
+ <Category>o</Category>
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+ <Name>Code word</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
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+ <Access>rw</Access>
+ <Category>o</Category>
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+ <Index>#xf010</Index>
+ <Name>Module list</Name>
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+ <Access>rw</Access>
+ <Category>o</Category>
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+ </Object>
+ </Objects>
+ </Dictionary>
+ </Profile>
+ <Fmmu>Outputs</Fmmu>
+ <Fmmu>Inputs</Fmmu>
+ <Fmmu>MBoxState</Fmmu>
+ <Sm MinSize="54" MaxSize="54" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+ <Sm MinSize="54" MaxSize="54" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+ <Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
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+ <Name>Outputs</Name>
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+ <Index>#x7000</Index>
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+ <Name>Ctrl</Name>
+ <DataType>UINT</DataType>
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+ <Index>#x7000</Index>
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+ <Name>Data Out</Name>
+ <DataType>UINT</DataType>
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+ <Name>PTO Control</Name>
+ <Exclude>#x1600</Exclude>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Control__Frequency select</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Control__Disable ramp</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Control__Go counter</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
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+ <Index>#x0</Index>
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+ <Name>Control__</Name>
+ </Entry>
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+ <Name>Control__</Name>
+ </Entry>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Frequency value</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1604</Index>
+ <Name>PTO Target compact</Name>
+ <Exclude>#x1600</Exclude>
+ <Exclude>#x1605</Exclude>
+ <Exclude>#x1607</Exclude>
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+ <BitLen>16</BitLen>
+ <Name>Target counter value</Name>
+ <DataType>UINT</DataType>
+ </Entry>
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+ <Name>PTO Target</Name>
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+ <Exclude>#x1604</Exclude>
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+ <Index>#x7010</Index>
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+ <Name>Target counter value</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
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+ <Index>#x1602</Index>
+ <Name>ENC Control compact</Name>
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+ <Exclude>#x1605</Exclude>
+ <Exclude>#x1607</Exclude>
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+ <Index>#x0</Index>
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+ <Name>Control__Set counter</Name>
+ <DataType>BOOL</DataType>
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+ <Name>Control__</Name>
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+ <Name>Control__</Name>
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+ <BitLen>16</BitLen>
+ <Name>Set counter value</Name>
+ <DataType>UINT</DataType>
+ </Entry>
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+ <Name>ENC Control</Name>
+ <Exclude>#x1600</Exclude>
+ <Exclude>#x1602</Exclude>
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+ <Name>Control__</Name>
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+ <Name>Set counter value</Name>
+ <DataType>UDINT</DataType>
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+ </RxPdo>
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+ <Index>#x1a00</Index>
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+ <Exclude>#x1a05</Exclude>
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+ <Index>#x6000</Index>
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+ <Name>Status</Name>
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+ <Name>Data In</Name>
+ <DataType>UINT</DataType>
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+ <TxPdo Fixed="1">
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+ <Name>PTO Status</Name>
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+ <Index>#x6010</Index>
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+ <DataType>BOOL</DataType>
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+ <Index>#x6010</Index>
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+ <Name>Status__Ramp active</Name>
+ <DataType>BOOL</DataType>
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+ <Name>Status__Error</Name>
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+ <Name>Status__Sync Error</Name>
+ <DataType>BOOL</DataType>
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+ <BitLen>1</BitLen>
+ <Name>Status__TxPDO Toggle</Name>
+ <DataType>BOOL</DataType>
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+ <Index>#x1a02</Index>
+ <Name>ENC Status compact</Name>
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+ <Name>Status__Set counter done</Name>
+ <DataType>BOOL</DataType>
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+ <Index>#x6020</Index>
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+ <BitLen>1</BitLen>
+ <Name>Status__Counter underflow</Name>
+ <DataType>BOOL</DataType>
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+ <Index>#x6020</Index>
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+ <BitLen>1</BitLen>
+ <Name>Status__Counter overflow</Name>
+ <DataType>BOOL</DataType>
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+ <Name>Status__</Name>
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+ <Name>Status__Sync Error</Name>
+ <DataType>BOOL</DataType>
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+ <BitLen>1</BitLen>
+ <Name>Status__</Name>
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+ <BitLen>1</BitLen>
+ <Name>Status__TxPDO Toggle</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
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+ <Index>#x6020</Index>
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+ <BitLen>16</BitLen>
+ <Name>Counter value</Name>
+ <DataType>UINT</DataType>
+ </Entry>
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+ <Name>ENC Status</Name>
+ <Exclude>#x1a02</Exclude>
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+ <Name>Status__Set counter done</Name>
+ <DataType>BOOL</DataType>
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+ <Index>#x6020</Index>
+ <SubIndex>4</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__Counter underflow</Name>
+ <DataType>BOOL</DataType>
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+ <Index>#x6020</Index>
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+ <BitLen>1</BitLen>
+ <Name>Status__Counter overflow</Name>
+ <DataType>BOOL</DataType>
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+ <Name>Status__</Name>
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+ <Name>Status__</Name>
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+ <Name>Status__Sync Error</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
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+ <Index>#x0</Index>
+ <BitLen>1</BitLen>
+ <Name>Status__</Name>
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+ <Index>#x1805</Index>
+ <SubIndex>9</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__TxPDO Toggle</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Counter value</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ </TxPdo>
+ <Mailbox DataLinkLayer="true">
+ <CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+ <FoE/>
+ </Mailbox>
+ <Dc>
+ <OpMode>
+ <Name>Synchron</Name>
+ <Desc>FreeRun/SM-Synchron</Desc>
+ <AssignActivate>#x0</AssignActivate>
+ <CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ </OpMode>
+ <OpMode>
+ <Name>DC</Name>
+ <Desc>DC-Synchron</Desc>
+ <AssignActivate>#x300</AssignActivate>
+ <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ </OpMode>
+ </Dc>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0500030c32000000000000000000</ConfigData>
+ <BootStrap>0010f400f410f400</BootStrap>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x9d93052" RevisionNo="#x03fb0000">EL2521</Type>
+ <HideType RevisionNo="#x0"/>
+ <HideType RevisionNo="#x3f80000"/>
+ <HideType RevisionNo="#x3f90000"/>
+ <HideType RevisionNo="#x3fa0000"/>
+ <Name LcId="1033">EL2521 1Ch. Pulse Train Output</Name>
+ <Name LcId="1031">EL2521 1K. Pulse Train Ausgang</Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>280</EBusCurrent>
+ </Electrical>
+ <Mailbox>
+ <Timeout>
+ <RequestTimeout>100</RequestTimeout>
+ <ResponseTimeout>2000</ResponseTimeout>
+ </Timeout>
+ </Mailbox>
+ <VendorSpecific>
+ <TwinCAT>
+ <AlternativeSmMapping>
+ <Name>Legacy (MDP 252)</Name>
+ <Sm No="2">
+ <Pdo>#x1600</Pdo>
+ </Sm>
+ <Sm No="3">
+ <Pdo>#x1a00</Pdo>
+ </Sm>
+ </AlternativeSmMapping>
+ <AlternativeSmMapping Default="1">
+ <Name>Standard 16 Bit (MDP 253/511)</Name>
+ <Sm No="2">
+ <Pdo>#x1601</Pdo>
+ <Pdo>#x1602</Pdo>
+ <Pdo>#x1604</Pdo>
+ </Sm>
+ <Sm No="3">
+ <Pdo>#x1a01</Pdo>
+ <Pdo>#x1a02</Pdo>
+ </Sm>
+ </AlternativeSmMapping>
+ <AlternativeSmMapping>
+ <Name>Standard 32 Bit (MDP 253/511)</Name>
+ <Sm No="2">
+ <Pdo>#x1601</Pdo>
+ <Pdo>#x1605</Pdo>
+ <Pdo>#x1607</Pdo>
+ </Sm>
+ <Sm No="3">
+ <Pdo>#x1a01</Pdo>
+ <Pdo>#x1a05</Pdo>
+ </Sm>
+ </AlternativeSmMapping>
+ </TwinCAT>
+ </VendorSpecific>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Profile>
+ <ChannelInfo>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>252</AddInfo>
+ </ChannelInfo>
+ <ChannelInfo>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>253</AddInfo>
+ </ChannelInfo>
+ <ChannelInfo>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>511</AddInfo>
+ </ChannelInfo>
+ <Dictionary>
+ <DataTypes>
+ <DataType>
+ <Name>BIT2</Name>
+ <BitSize>2</BitSize>
+ </DataType>
+ <DataType>
+ <Name>BOOL</Name>
+ <BitSize>1</BitSize>
+ </DataType>
+ <DataType>
+ <Name>BYTE</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UDINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UINT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>USINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>ARRAY [0..5] OF BYTE</Name>
+ <BaseType>BYTE</BaseType>
+ <BitSize>48</BitSize>
+ <ArrayInfo>
+ <LBound>0</LBound>
+ <Elements>6</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>ARRAY [0..9] OF BYTE</Name>
+ <BaseType>BYTE</BaseType>
+ <BitSize>80</BitSize>
+ <ArrayInfo>
+ <LBound>0</LBound>
+ <Elements>10</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>STRING(2)</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>STRING(6)</Name>
+ <BitSize>48</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DT0800EN01</Name>
+ <BaseType>BOOL</BaseType>
+ <BitSize>1</BitSize>
+ <EnumInfo>
+ <Text>10 Hz</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>1 kHz</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0801EN02</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>2</BitSize>
+ <EnumInfo>
+ <Text>Frequency mod.</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Pulse-dir. ctrl</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Incremental enc.</Text>
+ <Enum>2</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0802EN01</Name>
+ <BaseType>BOOL</BaseType>
+ <BitSize>1</BitSize>
+ <EnumInfo>
+ <Text>10 Hz</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>1 kHz</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0803EN02</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>2</BitSize>
+ <EnumInfo>
+ <Text>Frequency mod.</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Pulse-dir. ctrl</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Incremental enc.</Text>
+ <Enum>2</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1011ARR</Name>
+ <BaseType>UDINT</BaseType>
+ <BitSize>32</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>1</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1011</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>DT1011ARR</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1018</Name>
+ <BitSize>144</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Vendor ID</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Product code</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Revision</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>80</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Serial number</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT10F0</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>Checksum</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1400</Name>
+ <BitSize>96</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>6</SubIdx>
+ <Name>Exclude RxPDOs</Name>
+ <Type>ARRAY [0..9] OF BYTE</Type>
+ <BitSize>80</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1600</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>DT1601</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>DT1602</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>DT1604</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>SubIndex 001</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1800</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>
+ <SubIdx>6</SubIdx>
+ <Name>Exclude TxPDOs</Name>
+ <Type>ARRAY [0..5] OF BYTE</Type>
+ <BitSize>48</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1801</Name>
+ <BitSize>72</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>6</SubIdx>
+ <Name>Exclude TxPDOs</Name>
+ <Type>ARRAY [0..5] OF BYTE</Type>
+ <BitSize>48</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>TxPDO Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1A01</Name>
+ <BitSize>336</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>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>SubIndex 007</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>208</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>SubIndex 008</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>240</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>SubIndex 009</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>272</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>SubIndex 010</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>304</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>
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+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1C00ARR</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C12ARR</Name>
+ <BaseType>UINT</BaseType>
+ <BitSize>48</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>3</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1C12</Name>
+ <BitSize>64</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
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+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>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>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
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+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C32</Name>
+ <BitSize>344</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>
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+ <Flags>
+ <Access>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>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>
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+ <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>
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+ <BitOffs>144</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Minimum delay time</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>176</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
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+ <SubIdx>8</SubIdx>
+ <Name>Command</Name>
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+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Maximum delay time</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>224</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>SM event missed counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>288</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>12</SubIdx>
+ <Name>Cycle exceeded counter</Name>
+ <Type>UINT</Type>
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+ <BitOffs>304</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>Shift too short counter</Name>
+ <Type>UINT</Type>
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+ <BitOffs>320</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>32</SubIdx>
+ <Name>Sync error</Name>
+ <Type>BOOL</Type>
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+ <BitOffs>336</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
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+ </DataType>
+ <DataType>
+ <Name>DT6000</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>Status</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Data In</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6010</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>Sel. Ack/End counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Ramp active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Status of input target</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Status of input zero</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>21</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Sync error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>29</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>TxPDO Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>31</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6020</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>
+ <SubIdx>3</SubIdx>
+ <Name>Set counter done</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Counter underflow</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Counter overflow</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Sync error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>29</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>TxPDO Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>31</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7000</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>Ctrl</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Data Out</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7010</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>Frequency select</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Disable ramp</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Go counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Frequency value</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>Target counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7020</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>
+ <SubIdx>3</SubIdx>
+ <Name>Set counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Set counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8000</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>2</SubIdx>
+ <Name>Emergency ramp active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Watchdog timer deactive</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Sign/amount representation</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Rising edge clears/sets counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Ramp function active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>21</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Ramp base frequency</Name>
+ <Type>DT0800EN01</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Direct input mode</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>23</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Users switch-on-value on wdt</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>Travel distance control active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>25</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>Rising edge sets counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>26</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Operating mode</Name>
+ <Type>DT0801EN02</Type>
+ <BitSize>2</BitSize>
+ <BitOffs>29</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>15</SubIdx>
+ <Name>Negative logic</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>31</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8001</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>Users switch-on-value</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Base frequency 1</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Base frequency 2</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Ramp time constant (rising)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>96</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Ramp time constant (falling)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Frequency factor (Digit x 10mHz)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>128</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Slowing down frequency</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>144</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Ramp time constant (emergency)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>160</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8010</Name>
+ <BitSize>192</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>2</SubIdx>
+ <Name>Emergency ramp active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Watchdog timer deactive</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Sign/amount representation</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Ramp function active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>21</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Ramp base frequency</Name>
+ <Type>DT0802EN01</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Direct input mode</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>23</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Users switch-on-value on wdt</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>Travel distance control active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>25</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Operating mode</Name>
+ <Type>DT0803EN02</Type>
+ <BitSize>2</BitSize>
+ <BitOffs>29</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>Negative logic</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>31</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Users switch-on-value</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
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+ <Name>Travel distance control active</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
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+ </SubItem>
+ <SubItem>
+ <Name>Operating mode</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
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+ <SubItem>
+ <Name>Negative logic</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Users switch-on-value</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Base frequency 1</Name>
+ <Info>
+ <MinValue>#x64</MinValue>
+ <MaxValue>#x7a120</MaxValue>
+ <DefaultValue>#xc350</DefaultValue>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Base frequency 2</Name>
+ <Info>
+ <MinValue>#x64</MinValue>
+ <MaxValue>#x7a120</MaxValue>
+ <DefaultValue>#x186a0</DefaultValue>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Ramp time constant (rising)</Name>
+ <Info>
+ <DefaultData>e803</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Ramp time constant (falling)</Name>
+ <Info>
+ <DefaultData>e803</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Frequency factor (Digit x 10mHz)</Name>
+ <Info>
+ <MinValue>#x1</MinValue>
+ <MaxValue>#xffff</MaxValue>
+ <DefaultValue>#x64</DefaultValue>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Slowing down frequency</Name>
+ <Info>
+ <MinValue>#x0</MinValue>
+ <MaxValue>#x7fff</MaxValue>
+ <DefaultValue>#x32</DefaultValue>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Ramp time constant (emergency)</Name>
+ <Info>
+ <DefaultData>e803</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x8800</Index>
+ <Name>Volatile settings</Name>
+ <Type>DT8800</Type>
+ <BitSize>64</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Target counter state</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Maximum frequency</Name>
+ <Info>
+ <MinValue>#x0</MinValue>
+ <MaxValue>#x7fff</MaxValue>
+ <DefaultValue>#x0</DefaultValue>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#xa000</Index>
+ <Name>Diagnostic parameter</Name>
+ <Type>DTA000</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>01</DefaultData>
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+ <Name>Counter extension</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
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+ </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>
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+ </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>#xf008</Index>
+ <Name>Code word</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>00000000</DefaultData>
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+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
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+ </Object>
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+ <Index>#xf010</Index>
+ <Name>Module list</Name>
+ <Type>DTF010</Type>
+ <BitSize>112</BitSize>
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+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>03</DefaultData>
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+ <Name>SubIndex 001</Name>
+ <Info>
+ <DefaultData>fc000000</DefaultData>
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+ <Name>SubIndex 002</Name>
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+ <DefaultData>fd000000</DefaultData>
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+ <Name>SubIndex 003</Name>
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+ <DefaultData>ff010000</DefaultData>
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+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ </Objects>
+ </Dictionary>
+ </Profile>
+ <Fmmu>Outputs</Fmmu>
+ <Fmmu>Inputs</Fmmu>
+ <Fmmu>MBoxState</Fmmu>
+ <Sm MinSize="54" MaxSize="128" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+ <Sm MinSize="54" MaxSize="128" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+ <Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+ <Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+ <RxPdo Fixed="1" Sm="2">
+ <Index>#x1600</Index>
+ <Name>Outputs</Name>
+ <Exclude>#x1601</Exclude>
+ <Exclude>#x1604</Exclude>
+ <Exclude>#x1607</Exclude>
+ <Exclude>#x1602</Exclude>
+ <Exclude>#x1605</Exclude>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Ctrl</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Data Out</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1601</Index>
+ <Name>PTO Control</Name>
+ <Exclude>#x1600</Exclude>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Control__Frequency select</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Control__Disable ramp</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Control__Go counter</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>5</BitLen>
+ <Name>Control__Gap</Name>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>8</BitLen>
+ <Name>Control__Gap</Name>
+ </Entry>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Frequency value</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1604</Index>
+ <Name>PTO Target compact</Name>
+ <Exclude>#x1600</Exclude>
+ <Exclude>#x1605</Exclude>
+ <Exclude>#x1607</Exclude>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>18</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Target counter value</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1607</Index>
+ <Name>PTO Target</Name>
+ <Exclude>#x1600</Exclude>
+ <Exclude>#x1602</Exclude>
+ <Exclude>#x1604</Exclude>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>18</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Target counter value</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1602</Index>
+ <Name>ENC Control compact</Name>
+ <Exclude>#x1600</Exclude>
+ <Exclude>#x1605</Exclude>
+ <Exclude>#x1607</Exclude>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>2</BitLen>
+ <Name>Control__Gap</Name>
+ </Entry>
+ <Entry>
+ <Index>#x7020</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Control__Set counter</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>5</BitLen>
+ <Name>Control__Gap</Name>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>8</BitLen>
+ <Name>Control__Gap</Name>
+ </Entry>
+ <Entry>
+ <Index>#x7020</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Set counter value</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1605</Index>
+ <Name>ENC Control</Name>
+ <Exclude>#x1600</Exclude>
+ <Exclude>#x1602</Exclude>
+ <Exclude>#x1604</Exclude>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>2</BitLen>
+ <Name>Control__Gap</Name>
+ </Entry>
+ <Entry>
+ <Index>#x7020</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Control__Set counter</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>5</BitLen>
+ <Name>Control__Gap</Name>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>8</BitLen>
+ <Name>Control__Gap</Name>
+ </Entry>
+ <Entry>
+ <Index>#x7020</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Set counter value</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ </RxPdo>
+ <TxPdo Fixed="1" Sm="3">
+ <Index>#x1a00</Index>
+ <Name>Inputs</Name>
+ <Exclude>#x1a01</Exclude>
+ <Exclude>#x1a02</Exclude>
+ <Exclude>#x1a05</Exclude>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Status</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Data In</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1">
+ <Index>#x1a01</Index>
+ <Name>PTO Status</Name>
+ <Exclude>#x1a00</Exclude>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__Sel. Ack/End counter</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__Ramp active</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>2</BitLen>
+ <Name>Status__</Name>
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+ <Index>#x6010</Index>
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+ <BitLen>1</BitLen>
+ <Name>Status__Status of input target</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>6</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__Status of input zero</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>7</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__Error</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>6</BitLen>
+ <Name>Status__</Name>
+ </Entry>
+ <Entry>
+ <Index>#x1c32</Index>
+ <SubIndex>32</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__Sync error</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>1</BitLen>
+ <Name>Status__</Name>
+ </Entry>
+ <Entry>
+ <Index>#x1801</Index>
+ <SubIndex>9</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__TxPDO Toggle</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1">
+ <Index>#x1a02</Index>
+ <Name>ENC Status compact</Name>
+ <Exclude>#x1a05</Exclude>
+ <Exclude>#x1a00</Exclude>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>2</BitLen>
+ <Name>Status__Gap</Name>
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+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__Set counter done</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>4</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__Counter underflow</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>5</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__Counter overflow</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
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+ <Index>#x0</Index>
+ <BitLen>3</BitLen>
+ <Name>Status__Gap</Name>
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+ <Index>#x0</Index>
+ <BitLen>5</BitLen>
+ <Name>Status__Gap</Name>
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+ <Index>#x1c32</Index>
+ <SubIndex>32</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__Sync error</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>1</BitLen>
+ <Name>Status__Gap</Name>
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+ <Index>#x1802</Index>
+ <SubIndex>9</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__TxPDO Toggle</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Counter value</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1">
+ <Index>#x1a05</Index>
+ <Name>ENC Status</Name>
+ <Exclude>#x1a02</Exclude>
+ <Exclude>#x1a00</Exclude>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>2</BitLen>
+ <Name>Status__Gap</Name>
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+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__Set counter done</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>4</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__Counter underflow</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>5</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__Counter overflow</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>3</BitLen>
+ <Name>Status__Gap</Name>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>5</BitLen>
+ <Name>Status__Gap</Name>
+ </Entry>
+ <Entry>
+ <Index>#x1c32</Index>
+ <SubIndex>32</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__Sync error</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>1</BitLen>
+ <Name>Status__Gap</Name>
+ </Entry>
+ <Entry>
+ <Index>#x1805</Index>
+ <SubIndex>9</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__TxPDO Toggle</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Counter value</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ </TxPdo>
+ <Mailbox DataLinkLayer="true">
+ <CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+ <FoE/>
+ </Mailbox>
+ <Dc>
+ <OpMode>
+ <Name>Synchron</Name>
+ <Desc>FreeRun/SM-Synchron</Desc>
+ <AssignActivate>#x0</AssignActivate>
+ <CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ </OpMode>
+ <OpMode>
+ <Name>DC</Name>
+ <Desc>DC-Synchron</Desc>
+ <AssignActivate>#x300</AssignActivate>
+ <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+ <ShiftTimeSync0 Input="0">0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ </OpMode>
+ </Dc>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0500030c32000000000000000000</ConfigData>
+ <BootStrap>0010f400f410f400</BootStrap>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x09d93052" RevisionNo="#x3F80018">EL2521-0024</Type>
+ <Name LcId="1033">EL2521-0024 1Ch. Pulse Train 24V DC Output</Name>
+ <Name LcId="1031">EL2521-0024 1K. Pulse Train 24V DC Ausgang</Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>280</EBusCurrent>
+ </Electrical>
+ <Mailbox>
+ <Timeout>
+ <RequestTimeout>100</RequestTimeout>
+ <ResponseTimeout>2000</ResponseTimeout>
+ </Timeout>
+ </Mailbox>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Profile>
+ <ChannelInfo>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>252</AddInfo>
+ </ChannelInfo>
+ <ChannelInfo>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>253</AddInfo>
+ </ChannelInfo>
+ <ChannelInfo>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>511</AddInfo>
+ </ChannelInfo>
+ <Dictionary>
+ <DataTypes>
+ <DataType>
+ <Name>BIT2</Name>
+ <BitSize>0</BitSize>
+ </DataType>
+ <DataType>
+ <Name>BOOL</Name>
+ <BitSize>1</BitSize>
+ </DataType>
+ <DataType>
+ <Name>BYTE</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UDINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UINT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>USINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>ARRAY [0..5] OF BYTE</Name>
+ <BaseType>BYTE</BaseType>
+ <BitSize>48</BitSize>
+ <ArrayInfo>
+ <LBound>0</LBound>
+ <Elements>6</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>ARRAY [0..9] OF BYTE</Name>
+ <BaseType>BYTE</BaseType>
+ <BitSize>80</BitSize>
+ <ArrayInfo>
+ <LBound>0</LBound>
+ <Elements>10</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>STRING(2)</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>STRING(6)</Name>
+ <BitSize>48</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DT0800EN01</Name>
+ <BaseType>BOOL</BaseType>
+ <BitSize>1</BitSize>
+ <EnumInfo>
+ <Text>10 Hz</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>1 kHz</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0801EN02</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>2</BitSize>
+ <EnumInfo>
+ <Text>Frequency mod.</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Pulse-dir. ctrl</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Incremental enc.</Text>
+ <Enum>2</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0802EN01</Name>
+ <BaseType>BOOL</BaseType>
+ <BitSize>1</BitSize>
+ <EnumInfo>
+ <Text>10 Hz</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>1 kHz</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0803EN02</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>2</BitSize>
+ <EnumInfo>
+ <Text>Frequency mod.</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Pulse-dir. ctrl</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Incremental enc.</Text>
+ <Enum>2</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1011ARR</Name>
+ <BaseType>UDINT</BaseType>
+ <BitSize>32</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>1</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1011</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>DT1011ARR</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1018</Name>
+ <BitSize>144</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Vendor ID</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Product code</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Revision</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>80</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Serial number</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT10F0</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>Checksum</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1400</Name>
+ <BitSize>96</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>6</SubIdx>
+ <Name>Exclude RxPDOs</Name>
+ <Type>ARRAY [0..9] OF BYTE</Type>
+ <BitSize>80</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1600</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>DT1601</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>DT1602</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>DT1604</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>SubIndex 001</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1800</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>
+ <SubIdx>6</SubIdx>
+ <Name>Exclude TxPDOs</Name>
+ <Type>ARRAY [0..5] OF BYTE</Type>
+ <BitSize>48</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1801</Name>
+ <BitSize>72</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>6</SubIdx>
+ <Name>Exclude TxPDOs</Name>
+ <Type>ARRAY [0..5] OF BYTE</Type>
+ <BitSize>48</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>TxPDO-Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1A01</Name>
+ <BitSize>336</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>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>SubIndex 007</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>208</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>SubIndex 008</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>240</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>SubIndex 009</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>272</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>SubIndex 010</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>304</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>
+ <Name>DT1C12ARR</Name>
+ <BaseType>UINT</BaseType>
+ <BitSize>48</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>3</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1C12</Name>
+ <BitSize>64</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1C12ARR</Type>
+ <BitSize>48</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>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>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1C13ARR</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C32</Name>
+ <BitSize>280</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>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>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>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>Command</Name>
+ <Type>UINT</Type>
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+ <BitOffs>176</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Delay time</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>192</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>SM event missed counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>224</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>12</SubIdx>
+ <Name>Cycle exceeded counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>240</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>Shift too short counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>256</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>32</SubIdx>
+ <Name>Sync error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>272</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6000</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>Status</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Data In</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6010</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>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Sel. Ack/End counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Ramp active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Status of input target</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Status of input zero</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Sync Error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>21</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>TxPDO Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6020</Name>
+ <BitSize>56</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>3</SubIdx>
+ <Name>Set counter done</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Counter underflow</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Counter overflow</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Sync Error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>TxPDO Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7000</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>Ctrl</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Data Out</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7010</Name>
+ <BitSize>72</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>Frequency select</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Disable ramp</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Go counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Frequency value</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>Target counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>40</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7020</Name>
+ <BitSize>56</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>3</SubIdx>
+ <Name>Set counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Set counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8000</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>2</SubIdx>
+ <Name>Emergency ramp active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Watchdog timer deactive</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Sign/amount representation</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Rising edge clears/sets counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Ramp function active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Ramp base frequency</Name>
+ <Type>DT0800EN01</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>21</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Direct input mode</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Users switch-on-value on wdt</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>23</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>Travel distance control active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>Rising edge sets counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>25</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Operating mode</Name>
+ <Type>DT0801EN02</Type>
+ <BitSize>2</BitSize>
+ <BitOffs>26</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>15</SubIdx>
+ <Name>Negative logic</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>28</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8001</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>Users switch-on-value</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Base frequency 1</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Base frequency 2</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Ramp time constant (rising)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>96</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Ramp time constant (falling)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Frequency factor (Digit x 10mHz)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>128</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Slowing down frequency</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>144</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Ramp time constant (emergency)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>160</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8010</Name>
+ <BitSize>192</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>2</SubIdx>
+ <Name>Emergency ramp active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Watchdog timer deactive</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Sign/amount representation</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Ramp function active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Ramp base frequency</Name>
+ <Type>DT0802EN01</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Direct input mode</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>21</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Users switch-on-value on wdt</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>Travel distance control active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>23</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Operating mode</Name>
+ <Type>DT0803EN02</Type>
+ <BitSize>2</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>Negative logic</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>26</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Users switch-on-value</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>Base frequency 1</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>19</SubIdx>
+ <Name>Base frequency 2</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>20</SubIdx>
+ <Name>Ramp time constant (rising)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
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+ <Name>Ramp time constant (falling)</Name>
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+ <DefaultData>e803</DefaultData>
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+ </SubItem>
+ <SubItem>
+ <Name>Frequency factor (Digit x 10mHz)</Name>
+ <Info>
+ <MinValue>1</MinValue>
+ <MaxValue>65535</MaxValue>
+ <DefaultValue>100</DefaultValue>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Slowing down frequency</Name>
+ <Info>
+ <MinValue>0</MinValue>
+ <MaxValue>32767</MaxValue>
+ <DefaultValue>50</DefaultValue>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Ramp time constant (emergency)</Name>
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+ <DefaultData>e803</DefaultData>
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+ <Access>rw</Access>
+ <Category>o</Category>
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+ <Index>#x8800</Index>
+ <Name>Volatile settings</Name>
+ <Type>DT8800</Type>
+ <BitSize>64</BitSize>
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+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
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+ <Name>Target counter state</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
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+ </SubItem>
+ <SubItem>
+ <Name>Maximum frequency</Name>
+ <Info>
+ <MinValue>0</MinValue>
+ <MaxValue>32767</MaxValue>
+ <DefaultValue>0</DefaultValue>
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+ </Info>
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+ <Access>rw</Access>
+ <Category>o</Category>
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+ <Name>SubIndex 000</Name>
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+ <DefaultData>01</DefaultData>
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+ <DefaultData>0000</DefaultData>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
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+ <Object>
+ <Index>#xf000</Index>
+ <Name>Modular device profile</Name>
+ <Type>DTF000</Type>
+ <BitSize>48</BitSize>
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+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
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+ <Name>Module index distance</Name>
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+ <DefaultData>1000</DefaultData>
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+ </SubItem>
+ <SubItem>
+ <Name>Maximum number of modules</Name>
+ <Info>
+ <DefaultData>0300</DefaultData>
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+ <Access>ro</Access>
+ <Category>o</Category>
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+ <Index>#xf008</Index>
+ <Name>Code word</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
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+ <DefaultData>00000000</DefaultData>
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+ <Access>rw</Access>
+ <Category>o</Category>
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+ <DefaultData>03</DefaultData>
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+ <DefaultData>fc000000</DefaultData>
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+ <DefaultData>ff010000</DefaultData>
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+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ </Objects>
+ </Dictionary>
+ </Profile>
+ <Fmmu>Outputs</Fmmu>
+ <Fmmu>Inputs</Fmmu>
+ <Fmmu>MBoxState</Fmmu>
+ <Sm MinSize="64" MaxSize="128" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+ <Sm MinSize="64" MaxSize="128" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+ <Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+ <Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+ <RxPdo Fixed="1" Sm="2">
+ <Index>#x1600</Index>
+ <Name>Outputs</Name>
+ <Exclude>#x1601</Exclude>
+ <Exclude>#x1604</Exclude>
+ <Exclude>#x1607</Exclude>
+ <Exclude>#x1602</Exclude>
+ <Exclude>#x1605</Exclude>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Ctrl</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Data Out</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1601</Index>
+ <Name>PTO Control</Name>
+ <Exclude>#x1600</Exclude>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Frequency select</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Disable ramp</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Go counter</Name>
+ <DataType>BOOL</DataType>
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+ <Index>#x0</Index>
+ <BitLen>5</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
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+ </Entry>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Frequency value</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1604</Index>
+ <Name>PTO Target compact</Name>
+ <Exclude>#x1600</Exclude>
+ <Exclude>#x1605</Exclude>
+ <Exclude>#x1607</Exclude>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>18</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Target counter value</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1607</Index>
+ <Name>PTO Target</Name>
+ <Exclude>#x1600</Exclude>
+ <Exclude>#x1602</Exclude>
+ <Exclude>#x1604</Exclude>
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+ <Index>#x7010</Index>
+ <SubIndex>18</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Target counter value</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1602</Index>
+ <Name>ENC Control compact</Name>
+ <Exclude>#x1600</Exclude>
+ <Exclude>#x1605</Exclude>
+ <Exclude>#x1607</Exclude>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>2</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x7020</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Set counter</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>5</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>8</BitLen>
+ </Entry>
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+ <Index>#x7020</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Set counter value</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1605</Index>
+ <Name>ENC Control</Name>
+ <Exclude>#x1600</Exclude>
+ <Exclude>#x1602</Exclude>
+ <Exclude>#x1604</Exclude>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>2</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x7020</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Set counter</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>5</BitLen>
+ </Entry>
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+ <Index>#x0</Index>
+ <BitLen>8</BitLen>
+ </Entry>
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+ <Index>#x7020</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Set counter value</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ </RxPdo>
+ <TxPdo Fixed="1" Sm="3">
+ <Index>#x1a00</Index>
+ <Name>Inputs</Name>
+ <Exclude>#x1a01</Exclude>
+ <Exclude>#x1a02</Exclude>
+ <Exclude>#x1a05</Exclude>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Status</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Data In</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1">
+ <Index>#x1a01</Index>
+ <Name>PTO Status</Name>
+ <Exclude>#x1a00</Exclude>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Sel. Ack/End counter</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Ramp active</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
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+ <Index>#x0</Index>
+ <BitLen>2</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>5</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status of input target</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
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+ <Index>#x6010</Index>
+ <SubIndex>6</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status of input zero</Name>
+ <DataType>BOOL</DataType>
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+ <Index>#x6010</Index>
+ <SubIndex>7</SubIndex>
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+ <Name>Error</Name>
+ <DataType>BOOL</DataType>
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+ <Index>#x0</Index>
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+ <Index>#x1c32</Index>
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+ <Name>Sync Error</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
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+ <Index>#x0</Index>
+ <BitLen>1</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x1801</Index>
+ <SubIndex>9</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>TxPDO Toggle</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1">
+ <Index>#x1a02</Index>
+ <Name>ENC Status compact</Name>
+ <Exclude>#x1a05</Exclude>
+ <Exclude>#x1a00</Exclude>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>2</BitLen>
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+ <Index>#x6020</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Set counter done</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
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+ <Index>#x6020</Index>
+ <SubIndex>4</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Counter underflow</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
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+ <Index>#x6020</Index>
+ <SubIndex>5</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Counter overflow</Name>
+ <DataType>BOOL</DataType>
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+ <Index>#x0</Index>
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+ <Index>#x1c32</Index>
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+ <BitLen>1</BitLen>
+ <Name>Sync Error</Name>
+ <DataType>BOOL</DataType>
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+ <Index>#x0</Index>
+ <BitLen>1</BitLen>
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+ <Index>#x1802</Index>
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+ <BitLen>1</BitLen>
+ <Name>TxPDO Toggle</Name>
+ <DataType>BOOL</DataType>
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+ <Index>#x6020</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Counter value</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1">
+ <Index>#x1a05</Index>
+ <Name>ENC Status</Name>
+ <Exclude>#x1a02</Exclude>
+ <Exclude>#x1a00</Exclude>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>2</BitLen>
+ </Entry>
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+ <Index>#x6020</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Set counter done</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
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+ <Index>#x6020</Index>
+ <SubIndex>4</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Counter underflow</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
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+ <Index>#x6020</Index>
+ <SubIndex>5</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Counter overflow</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>3</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>5</BitLen>
+ </Entry>
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+ <Index>#x1c32</Index>
+ <SubIndex>32</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Sync Error</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>1</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x1805</Index>
+ <SubIndex>9</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>TxPDO Toggle</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Counter value</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ </TxPdo>
+ <Mailbox DataLinkLayer="true">
+ <CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+ <FoE/>
+ </Mailbox>
+ <Dc>
+ <OpMode>
+ <Name>Synchron</Name>
+ <Desc>FreeRun/SM-Synchron</Desc>
+ <AssignActivate>#x0</AssignActivate>
+ <CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ </OpMode>
+ <OpMode>
+ <Name>DC</Name>
+ <Desc>DC-Synchron</Desc>
+ <AssignActivate>#x300</AssignActivate>
+ <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ </OpMode>
+ </Dc>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0500030c32000000000000000000</ConfigData>
+ <BootStrap>0010f400f410f400</BootStrap>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x09d93052" RevisionNo="#x3F90018">EL2521-0024</Type>
+ <HideType RevisionNo="#x3F80018"/>
+ <Name LcId="1033">EL2521-0024 1Ch. Pulse Train 24V DC Output</Name>
+ <Name LcId="1031">EL2521-0024 1K. Pulse Train 24V DC Ausgang</Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>280</EBusCurrent>
+ </Electrical>
+ <Mailbox>
+ <Timeout>
+ <RequestTimeout>100</RequestTimeout>
+ <ResponseTimeout>2000</ResponseTimeout>
+ </Timeout>
+ </Mailbox>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Profile>
+ <ChannelInfo>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>252</AddInfo>
+ </ChannelInfo>
+ <ChannelInfo>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>253</AddInfo>
+ </ChannelInfo>
+ <ChannelInfo>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>511</AddInfo>
+ </ChannelInfo>
+ <Dictionary>
+ <DataTypes>
+ <DataType>
+ <Name>BIT2</Name>
+ <BitSize>0</BitSize>
+ </DataType>
+ <DataType>
+ <Name>BOOL</Name>
+ <BitSize>1</BitSize>
+ </DataType>
+ <DataType>
+ <Name>BYTE</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UDINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UINT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>USINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>ARRAY [0..5] OF BYTE</Name>
+ <BaseType>BYTE</BaseType>
+ <BitSize>48</BitSize>
+ <ArrayInfo>
+ <LBound>0</LBound>
+ <Elements>6</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>ARRAY [0..9] OF BYTE</Name>
+ <BaseType>BYTE</BaseType>
+ <BitSize>80</BitSize>
+ <ArrayInfo>
+ <LBound>0</LBound>
+ <Elements>10</Elements>
+ </ArrayInfo>
+ </DataType>
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+ </DataType>
+ <DataType>
+ <Name>STRING(6)</Name>
+ <BitSize>48</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DT0800EN01</Name>
+ <BaseType>BOOL</BaseType>
+ <BitSize>1</BitSize>
+ <EnumInfo>
+ <Text>10 Hz</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>1 kHz</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0801EN02</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>2</BitSize>
+ <EnumInfo>
+ <Text>Frequency mod.</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Pulse-dir. ctrl</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Incremental enc.</Text>
+ <Enum>2</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0802EN01</Name>
+ <BaseType>BOOL</BaseType>
+ <BitSize>1</BitSize>
+ <EnumInfo>
+ <Text>10 Hz</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>1 kHz</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0803EN02</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>2</BitSize>
+ <EnumInfo>
+ <Text>Frequency mod.</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Pulse-dir. ctrl</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Incremental enc.</Text>
+ <Enum>2</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1011ARR</Name>
+ <BaseType>UDINT</BaseType>
+ <BitSize>32</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>1</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1011</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>DT1011ARR</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1018</Name>
+ <BitSize>144</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Vendor ID</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Product code</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Revision</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>80</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Serial number</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT10F0</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>Checksum</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1400</Name>
+ <BitSize>96</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>6</SubIdx>
+ <Name>Exclude RxPDOs</Name>
+ <Type>ARRAY [0..9] OF BYTE</Type>
+ <BitSize>80</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1600</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>SubIndex 001</Name>
+ <Type>UDINT</Type>
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+ <Access>ro</Access>
+ <Category>o</Category>
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+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>SubIndex 002</Name>
+ <Type>UDINT</Type>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
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+ <DataType>
+ <Name>DT1601</Name>
+ <BitSize>208</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
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+ <BitSize>8</BitSize>
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+ <Access>ro</Access>
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+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>SubIndex 001</Name>
+ <Type>UDINT</Type>
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+ <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>
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+ <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>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1602</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>DT1604</Name>
+ <BitSize>48</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
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+ <BitOffs>0</BitOffs>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>SubIndex 001</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
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+ <DataType>
+ <Name>DT1800</Name>
+ <BitSize>64</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
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+ <BitOffs>0</BitOffs>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Exclude TxPDOs</Name>
+ <Type>ARRAY [0..5] OF BYTE</Type>
+ <BitSize>48</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
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+ <DataType>
+ <Name>DT1801</Name>
+ <BitSize>72</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Exclude TxPDOs</Name>
+ <Type>ARRAY [0..5] OF BYTE</Type>
+ <BitSize>48</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>TxPDO-Toggle</Name>
+ <Type>BOOL</Type>
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+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1A01</Name>
+ <BitSize>336</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>SubIndex 001</Name>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
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+ <Type>UDINT</Type>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
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+ <Name>SubIndex 003</Name>
+ <Type>UDINT</Type>
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+ <BitOffs>80</BitOffs>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
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+ <Name>SubIndex 004</Name>
+ <Type>UDINT</Type>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
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+ <Name>SubIndex 005</Name>
+ <Type>UDINT</Type>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
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+ <SubIdx>7</SubIdx>
+ <Name>SubIndex 007</Name>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
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+ <Name>SubIndex 008</Name>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
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+ <SubIdx>9</SubIdx>
+ <Name>SubIndex 009</Name>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>SubIndex 010</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>304</BitOffs>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C00ARR</Name>
+ <BaseType>USINT</BaseType>
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+ <ArrayInfo>
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+ </DataType>
+ <DataType>
+ <Name>DT1C00</Name>
+ <BitSize>48</BitSize>
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+ <Name>SubIndex 000</Name>
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+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C12ARR</Name>
+ <BaseType>UINT</BaseType>
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+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>3</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1C12</Name>
+ <BitSize>64</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
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+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
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+ <Name>Elements</Name>
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+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
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+ <DataType>
+ <Name>DT1C13ARR</Name>
+ <BaseType>UINT</BaseType>
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+ <ArrayInfo>
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+ </DataType>
+ <DataType>
+ <Name>DT1C13</Name>
+ <BitSize>48</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
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+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
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+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C32</Name>
+ <BitSize>280</BitSize>
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+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
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+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Sync mode</Name>
+ <Type>UINT</Type>
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+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>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>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>
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+ <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>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
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+ <Name>Command</Name>
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+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Delay time</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>192</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>SM event missed counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>224</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>12</SubIdx>
+ <Name>Cycle exceeded counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>240</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>Shift too short counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>256</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>32</SubIdx>
+ <Name>Sync error</Name>
+ <Type>BOOL</Type>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6000</Name>
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+ <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>Status</Name>
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+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Data In</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6010</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>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Sel. Ack/End counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Ramp active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Status of input target</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Status of input zero</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Sync Error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>21</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>TxPDO Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6020</Name>
+ <BitSize>56</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>3</SubIdx>
+ <Name>Set counter done</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Counter underflow</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Counter overflow</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Sync Error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>TxPDO Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7000</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>Ctrl</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Data Out</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7010</Name>
+ <BitSize>72</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>Frequency select</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Disable ramp</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Go counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Frequency value</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>Target counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>40</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7020</Name>
+ <BitSize>56</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>3</SubIdx>
+ <Name>Set counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Set counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8000</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>2</SubIdx>
+ <Name>Emergency ramp active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Watchdog timer deactive</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Sign/amount representation</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Rising edge clears/sets counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Ramp function active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Ramp base frequency</Name>
+ <Type>DT0800EN01</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>21</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Direct input mode</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Users switch-on-value on wdt</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>23</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>Travel distance control active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>Rising edge sets counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>25</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Operating mode</Name>
+ <Type>DT0801EN02</Type>
+ <BitSize>2</BitSize>
+ <BitOffs>26</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>15</SubIdx>
+ <Name>Negative logic</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>28</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8001</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>Users switch-on-value</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Base frequency 1</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Base frequency 2</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Ramp time constant (rising)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>96</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Ramp time constant (falling)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Frequency factor (Digit x 10mHz)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>128</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Slowing down frequency</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>144</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Ramp time constant (emergency)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>160</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8010</Name>
+ <BitSize>192</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>2</SubIdx>
+ <Name>Emergency ramp active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Watchdog timer deactive</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Sign/amount representation</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Ramp function active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Ramp base frequency</Name>
+ <Type>DT0802EN01</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Direct input mode</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>21</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Users switch-on-value on wdt</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>Travel distance control active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>23</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Operating mode</Name>
+ <Type>DT0803EN02</Type>
+ <BitSize>2</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>Negative logic</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>26</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Users switch-on-value</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>Base frequency 1</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>19</SubIdx>
+ <Name>Base frequency 2</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>20</SubIdx>
+ <Name>Ramp time constant (rising)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>21</SubIdx>
+ <Name>Ramp time constant (falling)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>128</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>22</SubIdx>
+ <Name>Frequency factor (Digit x 10mHz)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>144</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>23</SubIdx>
+ <Name>Slowing down frequency</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>160</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>24</SubIdx>
+ <Name>Ramp time constant (emergency)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>176</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8800</Name>
+ <BitSize>64</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
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+ <Info>
+ <DefaultData>0000</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>
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+ </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>#xf008</Index>
+ <Name>Code word</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#xf010</Index>
+ <Name>Module list</Name>
+ <Type>DTF010</Type>
+ <BitSize>112</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>03</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>SubIndex 001</Name>
+ <Info>
+ <DefaultData>fc000000</DefaultData>
+ </Info>
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+ <Name>SubIndex 002</Name>
+ <Info>
+ <DefaultData>fd000000</DefaultData>
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+ </SubItem>
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+ <Name>SubIndex 003</Name>
+ <Info>
+ <DefaultData>ff010000</DefaultData>
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+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ </Objects>
+ </Dictionary>
+ </Profile>
+ <Fmmu>Outputs</Fmmu>
+ <Fmmu>Inputs</Fmmu>
+ <Fmmu>MBoxState</Fmmu>
+ <Sm MinSize="54" MaxSize="54" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+ <Sm MinSize="54" MaxSize="54" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+ <Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+ <Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+ <RxPdo Fixed="1" Sm="2">
+ <Index>#x1600</Index>
+ <Name>Outputs</Name>
+ <Exclude>#x1601</Exclude>
+ <Exclude>#x1604</Exclude>
+ <Exclude>#x1607</Exclude>
+ <Exclude>#x1602</Exclude>
+ <Exclude>#x1605</Exclude>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Ctrl</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Data Out</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1601</Index>
+ <Name>PTO Control</Name>
+ <Exclude>#x1600</Exclude>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Frequency select</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Disable ramp</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Go counter</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>5</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>8</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Frequency value</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1604</Index>
+ <Name>PTO Target compact</Name>
+ <Exclude>#x1600</Exclude>
+ <Exclude>#x1605</Exclude>
+ <Exclude>#x1607</Exclude>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>18</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Target counter value</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1607</Index>
+ <Name>PTO Target</Name>
+ <Exclude>#x1600</Exclude>
+ <Exclude>#x1602</Exclude>
+ <Exclude>#x1604</Exclude>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>18</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Target counter value</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1602</Index>
+ <Name>ENC Control compact</Name>
+ <Exclude>#x1600</Exclude>
+ <Exclude>#x1605</Exclude>
+ <Exclude>#x1607</Exclude>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>2</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x7020</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Set counter</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>5</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
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+ </Entry>
+ <Entry>
+ <Index>#x7020</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Set counter value</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1605</Index>
+ <Name>ENC Control</Name>
+ <Exclude>#x1600</Exclude>
+ <Exclude>#x1602</Exclude>
+ <Exclude>#x1604</Exclude>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>2</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x7020</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Set counter</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>5</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>8</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x7020</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Set counter value</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ </RxPdo>
+ <TxPdo Fixed="1" Sm="3">
+ <Index>#x1a00</Index>
+ <Name>Inputs</Name>
+ <Exclude>#x1a01</Exclude>
+ <Exclude>#x1a02</Exclude>
+ <Exclude>#x1a05</Exclude>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Status</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Data In</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1">
+ <Index>#x1a01</Index>
+ <Name>PTO Status</Name>
+ <Exclude>#x1a00</Exclude>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Sel. Ack/End counter</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Ramp active</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
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+ <Index>#x0</Index>
+ <BitLen>2</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>5</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status of input target</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>6</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status of input zero</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>7</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Error</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>6</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x1c32</Index>
+ <SubIndex>32</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Sync Error</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>1</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x1801</Index>
+ <SubIndex>9</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>TxPDO Toggle</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1">
+ <Index>#x1a02</Index>
+ <Name>ENC Status compact</Name>
+ <Exclude>#x1a05</Exclude>
+ <Exclude>#x1a00</Exclude>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>2</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Set counter done</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>4</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Counter underflow</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>5</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Counter overflow</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>3</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>5</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x1c32</Index>
+ <SubIndex>32</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Sync Error</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>1</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x1802</Index>
+ <SubIndex>9</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>TxPDO Toggle</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Counter value</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1">
+ <Index>#x1a05</Index>
+ <Name>ENC Status</Name>
+ <Exclude>#x1a02</Exclude>
+ <Exclude>#x1a00</Exclude>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>2</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Set counter done</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>4</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Counter underflow</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
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+ <Index>#x6020</Index>
+ <SubIndex>5</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Counter overflow</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>3</BitLen>
+ </Entry>
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+ <Index>#x0</Index>
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+ </Entry>
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+ <Index>#x1c32</Index>
+ <SubIndex>32</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Sync Error</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>1</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x1805</Index>
+ <SubIndex>9</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>TxPDO Toggle</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Counter value</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ </TxPdo>
+ <Mailbox DataLinkLayer="true">
+ <CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+ <FoE/>
+ </Mailbox>
+ <Dc>
+ <OpMode>
+ <Name>Synchron</Name>
+ <Desc>FreeRun/SM-Synchron</Desc>
+ <AssignActivate>#x0</AssignActivate>
+ <CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ </OpMode>
+ <OpMode>
+ <Name>DC</Name>
+ <Desc>DC-Synchron</Desc>
+ <AssignActivate>#x300</AssignActivate>
+ <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ </OpMode>
+ </Dc>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0500030c32000000000000000000</ConfigData>
+ <BootStrap>0010f400f410f400</BootStrap>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x9d93052" RevisionNo="#x03fa0018">EL2521-0024</Type>
+ <HideType RevisionNo="#x3f80018"/>
+ <HideType RevisionNo="#x3f90018"/>
+ <Name LcId="1033">EL2521-0024 1Ch. Pulse Train 24V DC Output</Name>
+ <Name LcId="1031">EL2521-0024 1K. Pulse Train 24V DC Ausgang</Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>280</EBusCurrent>
+ </Electrical>
+ <Mailbox>
+ <Timeout>
+ <RequestTimeout>100</RequestTimeout>
+ <ResponseTimeout>2000</ResponseTimeout>
+ </Timeout>
+ </Mailbox>
+ <VendorSpecific>
+ <TwinCAT>
+ <AlternativeSmMapping>
+ <Name>Legacy (MDP 252)</Name>
+ <Sm No="2">
+ <Pdo>#x1600</Pdo>
+ </Sm>
+ <Sm No="3">
+ <Pdo>#x1a00</Pdo>
+ </Sm>
+ </AlternativeSmMapping>
+ <AlternativeSmMapping Default="1">
+ <Name>Standard 16 Bit (MDP 253/511)</Name>
+ <Sm No="2">
+ <Pdo>#x1601</Pdo>
+ <Pdo>#x1602</Pdo>
+ <Pdo>#x1604</Pdo>
+ </Sm>
+ <Sm No="3">
+ <Pdo>#x1a01</Pdo>
+ <Pdo>#x1a02</Pdo>
+ </Sm>
+ </AlternativeSmMapping>
+ <AlternativeSmMapping>
+ <Name>Standard 32 Bit (MDP 253/511)</Name>
+ <Sm No="2">
+ <Pdo>#x1601</Pdo>
+ <Pdo>#x1605</Pdo>
+ <Pdo>#x1607</Pdo>
+ </Sm>
+ <Sm No="3">
+ <Pdo>#x1a01</Pdo>
+ <Pdo>#x1a05</Pdo>
+ </Sm>
+ </AlternativeSmMapping>
+ </TwinCAT>
+ </VendorSpecific>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Profile>
+ <ChannelInfo>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>252</AddInfo>
+ </ChannelInfo>
+ <ChannelInfo>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>253</AddInfo>
+ </ChannelInfo>
+ <ChannelInfo>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>511</AddInfo>
+ </ChannelInfo>
+ <Dictionary>
+ <DataTypes>
+ <DataType>
+ <Name>BIT2</Name>
+ <BitSize>2</BitSize>
+ </DataType>
+ <DataType>
+ <Name>BOOL</Name>
+ <BitSize>1</BitSize>
+ </DataType>
+ <DataType>
+ <Name>BYTE</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UDINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UINT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>USINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>ARRAY [0..5] OF BYTE</Name>
+ <BaseType>BYTE</BaseType>
+ <BitSize>48</BitSize>
+ <ArrayInfo>
+ <LBound>0</LBound>
+ <Elements>6</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>ARRAY [0..9] OF BYTE</Name>
+ <BaseType>BYTE</BaseType>
+ <BitSize>80</BitSize>
+ <ArrayInfo>
+ <LBound>0</LBound>
+ <Elements>10</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>STRING(11)</Name>
+ <BitSize>88</BitSize>
+ </DataType>
+ <DataType>
+ <Name>STRING(2)</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DT0800EN01</Name>
+ <BaseType>BOOL</BaseType>
+ <BitSize>1</BitSize>
+ <EnumInfo>
+ <Text>10 Hz</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>1 kHz</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0801EN02</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>2</BitSize>
+ <EnumInfo>
+ <Text>Frequency mod.</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Pulse-dir. ctrl</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Incremental enc.</Text>
+ <Enum>2</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0802EN01</Name>
+ <BaseType>BOOL</BaseType>
+ <BitSize>1</BitSize>
+ <EnumInfo>
+ <Text>10 Hz</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>1 kHz</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0803EN02</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>2</BitSize>
+ <EnumInfo>
+ <Text>Frequency mod.</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Pulse-dir. ctrl</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Incremental enc.</Text>
+ <Enum>2</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1011ARR</Name>
+ <BaseType>UDINT</BaseType>
+ <BitSize>32</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>1</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1011</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>DT1011ARR</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1018</Name>
+ <BitSize>144</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Vendor ID</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Product code</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Revision</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>80</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Serial number</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT10F0</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>Checksum</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1400</Name>
+ <BitSize>96</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>6</SubIdx>
+ <Name>Exclude RxPDOs</Name>
+ <Type>ARRAY [0..9] OF BYTE</Type>
+ <BitSize>80</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1600</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>DT1601</Name>
+ <BitSize>208</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>SubIndex 001</Name>
+ <Type>UDINT</Type>
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+ <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>DT1602</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>DT1604</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>SubIndex 001</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1800</Name>
+ <BitSize>64</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
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+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Exclude TxPDOs</Name>
+ <Type>ARRAY [0..5] OF BYTE</Type>
+ <BitSize>48</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1801</Name>
+ <BitSize>72</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
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+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Exclude TxPDOs</Name>
+ <Type>ARRAY [0..5] OF BYTE</Type>
+ <BitSize>48</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>TxPDO Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1A01</Name>
+ <BitSize>336</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
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+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>SubIndex 001</Name>
+ <Type>UDINT</Type>
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+ <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>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>SubIndex 007</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>208</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>SubIndex 008</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>240</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>SubIndex 009</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>SubIndex 010</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>304</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>
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+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
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+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C12ARR</Name>
+ <BaseType>UINT</BaseType>
+ <BitSize>48</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>3</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1C12</Name>
+ <BitSize>64</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1C12ARR</Type>
+ <BitSize>48</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>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>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1C13ARR</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C32</Name>
+ <BitSize>344</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
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+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Sync mode</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>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>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>
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+ <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>7</SubIdx>
+ <Name>Minimum delay time</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>176</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Command</Name>
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+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Maximum delay time</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>224</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>SM event missed counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>288</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>12</SubIdx>
+ <Name>Cycle exceeded counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>304</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>Shift too short counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>320</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>32</SubIdx>
+ <Name>Sync error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>336</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6000</Name>
+ <BitSize>48</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
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+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Status</Name>
+ <Type>UINT</Type>
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+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Data In</Name>
+ <Type>UINT</Type>
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+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6010</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>Sel. Ack/End counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Ramp active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Status of input target</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Status of input zero</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>21</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Sync error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>29</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>TxPDO Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>31</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6020</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>
+ <SubIdx>3</SubIdx>
+ <Name>Set counter done</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Counter underflow</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Counter overflow</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Sync error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>29</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>TxPDO Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>31</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7000</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>Ctrl</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Data Out</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7010</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>Frequency select</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Disable ramp</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Go counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Frequency value</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>Target counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7020</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>
+ <SubIdx>3</SubIdx>
+ <Name>Set counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Set counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8000</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>2</SubIdx>
+ <Name>Emergency ramp active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Watchdog timer deactive</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Sign/amount representation</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Rising edge clears/sets counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Ramp function active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>21</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Ramp base frequency</Name>
+ <Type>DT0800EN01</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Direct input mode</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>23</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Users switch-on-value on wdt</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>Travel distance control active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>25</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>Rising edge sets counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>26</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Operating mode</Name>
+ <Type>DT0801EN02</Type>
+ <BitSize>2</BitSize>
+ <BitOffs>29</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>15</SubIdx>
+ <Name>Negative logic</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>31</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8001</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>Users switch-on-value</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Base frequency 1</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Base frequency 2</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Ramp time constant (rising)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>96</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Ramp time constant (falling)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Frequency factor (Digit x 10mHz)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>128</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Slowing down frequency</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>144</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Ramp time constant (emergency)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>160</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8010</Name>
+ <BitSize>192</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>2</SubIdx>
+ <Name>Emergency ramp active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Watchdog timer deactive</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Sign/amount representation</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Ramp function active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>21</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Ramp base frequency</Name>
+ <Type>DT0802EN01</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Direct input mode</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>23</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Users switch-on-value on wdt</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>Travel distance control active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>25</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Operating mode</Name>
+ <Type>DT0803EN02</Type>
+ <BitSize>2</BitSize>
+ <BitOffs>29</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>Negative logic</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>31</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Users switch-on-value</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>Base frequency 1</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>19</SubIdx>
+ <Name>Base frequency 2</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>20</SubIdx>
+ <Name>Ramp time constant (rising)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>21</SubIdx>
+ <Name>Ramp time constant (falling)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>128</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>22</SubIdx>
+ <Name>Frequency factor (Digit x 10mHz)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>144</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>23</SubIdx>
+ <Name>Slowing down frequency</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>160</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>24</SubIdx>
+ <Name>Ramp time constant (emergency)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>176</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8800</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>
+ <SubIdx>1</SubIdx>
+ <Name>Target counter state</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Maximum frequency</Name>
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+ <Name>Synchron</Name>
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+ <Name>DC</Name>
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+ <ByteSize>2048</ByteSize>
+ <ConfigData>0500030c32000000000000000000</ConfigData>
+ <BootStrap>0010f400f410f400</BootStrap>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x09d93052" RevisionNo="#x3F80019">EL2521-0025</Type>
+ <Name LcId="1033">EL2521-0025 1Ch. Pulse Train 24V DC Output negative</Name>
+ <Name LcId="1031">EL2521-0025 1K. Pulse Train 24V DC Ausgang negativ</Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>280</EBusCurrent>
+ </Electrical>
+ <Mailbox>
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+ <RequestTimeout>100</RequestTimeout>
+ <ResponseTimeout>2000</ResponseTimeout>
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+ <BaseType>BOOL</BaseType>
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+ <EnumInfo>
+ <Text>1 kHz</Text>
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+ <EnumInfo>
+ <Text>Pulse-dir. ctrl</Text>
+ <Enum>1</Enum>
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+ <Access>ro</Access>
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+ <Access>ro</Access>
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+ </DataType>
+ <DataType>
+ <Name>DT1400</Name>
+ <BitSize>96</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>6</SubIdx>
+ <Name>Exclude RxPDOs</Name>
+ <Type>ARRAY [0..9] OF BYTE</Type>
+ <BitSize>80</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1600</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>DT1601</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>DT1602</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>DT1604</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>SubIndex 001</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1800</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>
+ <SubIdx>6</SubIdx>
+ <Name>Exclude TxPDOs</Name>
+ <Type>ARRAY [0..5] OF BYTE</Type>
+ <BitSize>48</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1801</Name>
+ <BitSize>72</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>6</SubIdx>
+ <Name>Exclude TxPDOs</Name>
+ <Type>ARRAY [0..5] OF BYTE</Type>
+ <BitSize>48</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>TxPDO-Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1A01</Name>
+ <BitSize>336</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>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>SubIndex 007</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>208</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>SubIndex 008</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>240</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>SubIndex 009</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>272</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>SubIndex 010</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>304</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>
+ <Name>DT1C12ARR</Name>
+ <BaseType>UINT</BaseType>
+ <BitSize>48</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>3</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1C12</Name>
+ <BitSize>64</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1C12ARR</Type>
+ <BitSize>48</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>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>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1C13ARR</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C32</Name>
+ <BitSize>280</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>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>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>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>Command</Name>
+ <Type>UINT</Type>
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+ <BitOffs>176</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Delay time</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>192</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>SM event missed counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>224</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>12</SubIdx>
+ <Name>Cycle exceeded counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>240</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>Shift too short counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>256</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>32</SubIdx>
+ <Name>Sync error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>272</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6000</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>Status</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Data In</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6010</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>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Sel. Ack/End counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Ramp active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Status of input target</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Status of input zero</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Sync Error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>21</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>TxPDO Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6020</Name>
+ <BitSize>56</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>3</SubIdx>
+ <Name>Set counter done</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Counter underflow</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Counter overflow</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Sync Error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>TxPDO Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7000</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>Ctrl</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Data Out</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7010</Name>
+ <BitSize>72</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>Frequency select</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Disable ramp</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Go counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Frequency value</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>Target counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>40</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7020</Name>
+ <BitSize>56</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>3</SubIdx>
+ <Name>Set counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Set counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8000</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>2</SubIdx>
+ <Name>Emergency ramp active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Watchdog timer deactive</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Sign/amount representation</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Rising edge clears/sets counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Ramp function active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Ramp base frequency</Name>
+ <Type>DT0800EN01</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>21</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Direct input mode</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Users switch-on-value on wdt</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>23</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>Travel distance control active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>Rising edge sets counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>25</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Operating mode</Name>
+ <Type>DT0801EN02</Type>
+ <BitSize>2</BitSize>
+ <BitOffs>26</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>15</SubIdx>
+ <Name>Negative logic</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>28</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8001</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>Users switch-on-value</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Base frequency 1</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Base frequency 2</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Ramp time constant (rising)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>96</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Ramp time constant (falling)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Frequency factor (Digit x 10mHz)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>128</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Slowing down frequency</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>144</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Ramp time constant (emergency)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>160</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8010</Name>
+ <BitSize>192</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>2</SubIdx>
+ <Name>Emergency ramp active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Watchdog timer deactive</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Sign/amount representation</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Ramp function active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Ramp base frequency</Name>
+ <Type>DT0802EN01</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Direct input mode</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>21</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Users switch-on-value on wdt</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>Travel distance control active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>23</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Operating mode</Name>
+ <Type>DT0803EN02</Type>
+ <BitSize>2</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>Negative logic</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>26</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Users switch-on-value</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>Base frequency 1</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>19</SubIdx>
+ <Name>Base frequency 2</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>20</SubIdx>
+ <Name>Ramp time constant (rising)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>21</SubIdx>
+ <Name>Ramp time constant (falling)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>128</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>22</SubIdx>
+ <Name>Frequency factor (Digit x 10mHz)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>144</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>23</SubIdx>
+ <Name>Slowing down frequency</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>160</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>24</SubIdx>
+ <Name>Ramp time constant (emergency)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>176</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8800</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>
+ <SubIdx>1</SubIdx>
+ <Name>Target counter state</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Maximum frequency</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DTA000</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>Counter extension</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
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+ <Name LcId="1031">EL2521-0025 1K. Pulse Train 24V DC Ausgang negativ</Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
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+ <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>DT1602</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>DT1604</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>SubIndex 001</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1800</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>
+ <SubIdx>6</SubIdx>
+ <Name>Exclude TxPDOs</Name>
+ <Type>ARRAY [0..5] OF BYTE</Type>
+ <BitSize>48</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1801</Name>
+ <BitSize>72</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>6</SubIdx>
+ <Name>Exclude TxPDOs</Name>
+ <Type>ARRAY [0..5] OF BYTE</Type>
+ <BitSize>48</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>TxPDO-Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1A01</Name>
+ <BitSize>336</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>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>SubIndex 007</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>208</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>SubIndex 008</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>240</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>SubIndex 009</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>272</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>SubIndex 010</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>304</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>
+ <Name>DT1C12ARR</Name>
+ <BaseType>UINT</BaseType>
+ <BitSize>48</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>3</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1C12</Name>
+ <BitSize>64</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1C12ARR</Type>
+ <BitSize>48</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>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>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1C13ARR</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C32</Name>
+ <BitSize>280</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>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>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>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>Command</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>176</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Delay time</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>192</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>SM event missed counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>224</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>12</SubIdx>
+ <Name>Cycle exceeded counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>240</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>Shift too short counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>256</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>32</SubIdx>
+ <Name>Sync error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>272</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6000</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>Status</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Data In</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6010</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>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Sel. Ack/End counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Ramp active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Status of input target</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Status of input zero</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Sync Error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>21</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>TxPDO Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6020</Name>
+ <BitSize>56</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>3</SubIdx>
+ <Name>Set counter done</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Counter underflow</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Counter overflow</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Sync Error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>TxPDO Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7000</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>Ctrl</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Data Out</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7010</Name>
+ <BitSize>72</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>Frequency select</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Disable ramp</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Go counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Frequency value</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>Target counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>40</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7020</Name>
+ <BitSize>56</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>3</SubIdx>
+ <Name>Set counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Set counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8000</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>2</SubIdx>
+ <Name>Emergency ramp active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Watchdog timer deactive</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Sign/amount representation</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Rising edge clears/sets counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Ramp function active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Ramp base frequency</Name>
+ <Type>DT0800EN01</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>21</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Direct input mode</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Users switch-on-value on wdt</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>23</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>Travel distance control active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>Rising edge sets counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>25</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Operating mode</Name>
+ <Type>DT0801EN02</Type>
+ <BitSize>2</BitSize>
+ <BitOffs>26</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>15</SubIdx>
+ <Name>Negative logic</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>28</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8001</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>Users switch-on-value</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Base frequency 1</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Base frequency 2</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Ramp time constant (rising)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>96</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Ramp time constant (falling)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Frequency factor (Digit x 10mHz)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>128</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Slowing down frequency</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>144</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Ramp time constant (emergency)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>160</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8010</Name>
+ <BitSize>192</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>2</SubIdx>
+ <Name>Emergency ramp active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Watchdog timer deactive</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Sign/amount representation</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Ramp function active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Ramp base frequency</Name>
+ <Type>DT0802EN01</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Direct input mode</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>21</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Users switch-on-value on wdt</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>Travel distance control active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>23</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Operating mode</Name>
+ <Type>DT0803EN02</Type>
+ <BitSize>2</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>Negative logic</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>26</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Users switch-on-value</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>Base frequency 1</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>19</SubIdx>
+ <Name>Base frequency 2</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>20</SubIdx>
+ <Name>Ramp time constant (rising)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>21</SubIdx>
+ <Name>Ramp time constant (falling)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>128</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>22</SubIdx>
+ <Name>Frequency factor (Digit x 10mHz)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>144</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>23</SubIdx>
+ <Name>Slowing down frequency</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>160</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>24</SubIdx>
+ <Name>Ramp time constant (emergency)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>176</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8800</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>
+ <SubIdx>1</SubIdx>
+ <Name>Target counter state</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Maximum frequency</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DTA000</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>Counter extension</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</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>96</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>3</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DTF010</Name>
+ <BitSize>112</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DTF010ARR</Type>
+ <BitSize>96</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
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+ </Entry>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Data Out</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1601</Index>
+ <Name>PTO Control</Name>
+ <Exclude>#x1600</Exclude>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Frequency select</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Disable ramp</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Go counter</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>5</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>8</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Frequency value</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1604</Index>
+ <Name>PTO Target compact</Name>
+ <Exclude>#x1600</Exclude>
+ <Exclude>#x1605</Exclude>
+ <Exclude>#x1607</Exclude>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>18</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Target counter value</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1607</Index>
+ <Name>PTO Target</Name>
+ <Exclude>#x1600</Exclude>
+ <Exclude>#x1602</Exclude>
+ <Exclude>#x1604</Exclude>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>18</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Target counter value</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1602</Index>
+ <Name>ENC Control compact</Name>
+ <Exclude>#x1600</Exclude>
+ <Exclude>#x1605</Exclude>
+ <Exclude>#x1607</Exclude>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>2</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x7020</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Set counter</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>5</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>8</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x7020</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Set counter value</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1605</Index>
+ <Name>ENC Control</Name>
+ <Exclude>#x1600</Exclude>
+ <Exclude>#x1602</Exclude>
+ <Exclude>#x1604</Exclude>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>2</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x7020</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Set counter</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>5</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>8</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x7020</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Set counter value</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ </RxPdo>
+ <TxPdo Fixed="1" Sm="3">
+ <Index>#x1a00</Index>
+ <Name>Inputs</Name>
+ <Exclude>#x1a01</Exclude>
+ <Exclude>#x1a02</Exclude>
+ <Exclude>#x1a05</Exclude>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Status</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Data In</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1">
+ <Index>#x1a01</Index>
+ <Name>PTO Status</Name>
+ <Exclude>#x1a00</Exclude>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Sel. Ack/End counter</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Ramp active</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>2</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>5</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status of input target</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>6</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status of input zero</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>7</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Error</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>6</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x1c32</Index>
+ <SubIndex>32</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Sync Error</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>1</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x1801</Index>
+ <SubIndex>9</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>TxPDO Toggle</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1">
+ <Index>#x1a02</Index>
+ <Name>ENC Status compact</Name>
+ <Exclude>#x1a05</Exclude>
+ <Exclude>#x1a00</Exclude>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>2</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Set counter done</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>4</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Counter underflow</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>5</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Counter overflow</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>3</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>5</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x1c32</Index>
+ <SubIndex>32</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Sync Error</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>1</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x1802</Index>
+ <SubIndex>9</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>TxPDO Toggle</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Counter value</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1">
+ <Index>#x1a05</Index>
+ <Name>ENC Status</Name>
+ <Exclude>#x1a02</Exclude>
+ <Exclude>#x1a00</Exclude>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>2</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Set counter done</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>4</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Counter underflow</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>5</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Counter overflow</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>3</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>5</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x1c32</Index>
+ <SubIndex>32</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Sync Error</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>1</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x1805</Index>
+ <SubIndex>9</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>TxPDO Toggle</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Counter value</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ </TxPdo>
+ <Mailbox DataLinkLayer="true">
+ <CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+ <FoE/>
+ </Mailbox>
+ <Dc>
+ <OpMode>
+ <Name>Synchron</Name>
+ <Desc>FreeRun/SM-Synchron</Desc>
+ <AssignActivate>#x0</AssignActivate>
+ <CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ </OpMode>
+ <OpMode>
+ <Name>DC</Name>
+ <Desc>DC-Synchron</Desc>
+ <AssignActivate>#x300</AssignActivate>
+ <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ </OpMode>
+ </Dc>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0500030c32000000000000000000</ConfigData>
+ <BootStrap>0010f400f410f400</BootStrap>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x9d93052" RevisionNo="#x3fa0019">EL2521-0025</Type>
+ <HideType RevisionNo="#x3f80019"/>
+ <HideType RevisionNo="#x3f90019"/>
+ <Name LcId="1033">EL2521-0025 1Ch. Pulse Train 24V DC Output negative</Name>
+ <Name LcId="1031">EL2521-0025 1K. Pulse Train 24V DC Ausgang negativ</Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>280</EBusCurrent>
+ </Electrical>
+ <Mailbox>
+ <Timeout>
+ <RequestTimeout>100</RequestTimeout>
+ <ResponseTimeout>2000</ResponseTimeout>
+ </Timeout>
+ </Mailbox>
+ <VendorSpecific>
+ <TwinCAT>
+ <AlternativeSmMapping>
+ <Name>Legacy (MDP 252)</Name>
+ <Sm No="2">
+ <Pdo>#x1600</Pdo>
+ </Sm>
+ <Sm No="3">
+ <Pdo>#x1a00</Pdo>
+ </Sm>
+ </AlternativeSmMapping>
+ <AlternativeSmMapping Default="1">
+ <Name>Standard 16 Bit (MDP 253/511)</Name>
+ <Sm No="2">
+ <Pdo>#x1601</Pdo>
+ <Pdo>#x1602</Pdo>
+ <Pdo>#x1604</Pdo>
+ </Sm>
+ <Sm No="3">
+ <Pdo>#x1a01</Pdo>
+ <Pdo>#x1a02</Pdo>
+ </Sm>
+ </AlternativeSmMapping>
+ <AlternativeSmMapping>
+ <Name>Standard 32 Bit (MDP 253/511)</Name>
+ <Sm No="2">
+ <Pdo>#x1601</Pdo>
+ <Pdo>#x1605</Pdo>
+ <Pdo>#x1607</Pdo>
+ </Sm>
+ <Sm No="3">
+ <Pdo>#x1a01</Pdo>
+ <Pdo>#x1a05</Pdo>
+ </Sm>
+ </AlternativeSmMapping>
+ </TwinCAT>
+ </VendorSpecific>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Profile>
+ <ChannelInfo>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>252</AddInfo>
+ </ChannelInfo>
+ <ChannelInfo>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>253</AddInfo>
+ </ChannelInfo>
+ <ChannelInfo>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>511</AddInfo>
+ </ChannelInfo>
+ <Dictionary>
+ <DataTypes>
+ <DataType>
+ <Name>BIT2</Name>
+ <BitSize>2</BitSize>
+ </DataType>
+ <DataType>
+ <Name>BOOL</Name>
+ <BitSize>1</BitSize>
+ </DataType>
+ <DataType>
+ <Name>BYTE</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UDINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UINT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>USINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>ARRAY [0..5] OF BYTE</Name>
+ <BaseType>BYTE</BaseType>
+ <BitSize>48</BitSize>
+ <ArrayInfo>
+ <LBound>0</LBound>
+ <Elements>6</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>ARRAY [0..9] OF BYTE</Name>
+ <BaseType>BYTE</BaseType>
+ <BitSize>80</BitSize>
+ <ArrayInfo>
+ <LBound>0</LBound>
+ <Elements>10</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>STRING(11)</Name>
+ <BitSize>88</BitSize>
+ </DataType>
+ <DataType>
+ <Name>STRING(2)</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DT0800EN01</Name>
+ <BaseType>BOOL</BaseType>
+ <BitSize>1</BitSize>
+ <EnumInfo>
+ <Text>10 Hz</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>1 kHz</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0801EN02</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>2</BitSize>
+ <EnumInfo>
+ <Text>Frequency mod.</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Pulse-dir. ctrl</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Incremental enc.</Text>
+ <Enum>2</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0802EN01</Name>
+ <BaseType>BOOL</BaseType>
+ <BitSize>1</BitSize>
+ <EnumInfo>
+ <Text>10 Hz</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>1 kHz</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0803EN02</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>2</BitSize>
+ <EnumInfo>
+ <Text>Frequency mod.</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Pulse-dir. ctrl</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Incremental enc.</Text>
+ <Enum>2</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1011ARR</Name>
+ <BaseType>UDINT</BaseType>
+ <BitSize>32</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>1</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1011</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>DT1011ARR</Type>
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+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
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+ <DataType>
+ <Name>DT1018</Name>
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+ <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>DT10F0</Name>
+ <BitSize>48</BitSize>
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+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
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+ <Access>ro</Access>
+ <Category>o</Category>
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+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Checksum</Name>
+ <Type>UDINT</Type>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
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+ </SubItem>
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+ <Name>DT1400</Name>
+ <BitSize>96</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>6</SubIdx>
+ <Name>Exclude RxPDOs</Name>
+ <Type>ARRAY [0..9] OF BYTE</Type>
+ <BitSize>80</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
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+ <DataType>
+ <Name>DT1600</Name>
+ <BitSize>80</BitSize>
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+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
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+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
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+ </SubItem>
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+ <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>DT1601</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>
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+ <SubIdx>1</SubIdx>
+ <Name>SubIndex 001</Name>
+ <Type>UDINT</Type>
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+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
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+ <SubIdx>2</SubIdx>
+ <Name>SubIndex 002</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
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+ </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>DT1602</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>DT1604</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>SubIndex 001</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1800</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>
+ <SubIdx>6</SubIdx>
+ <Name>Exclude TxPDOs</Name>
+ <Type>ARRAY [0..5] OF BYTE</Type>
+ <BitSize>48</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1801</Name>
+ <BitSize>72</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>6</SubIdx>
+ <Name>Exclude TxPDOs</Name>
+ <Type>ARRAY [0..5] OF BYTE</Type>
+ <BitSize>48</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>TxPDO Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1A01</Name>
+ <BitSize>336</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>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>SubIndex 007</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>208</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>SubIndex 008</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>240</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>SubIndex 009</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>272</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>SubIndex 010</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>304</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>
+ <Name>DT1C12ARR</Name>
+ <BaseType>UINT</BaseType>
+ <BitSize>48</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>3</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1C12</Name>
+ <BitSize>64</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1C12ARR</Type>
+ <BitSize>48</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>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>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1C13ARR</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C32</Name>
+ <BitSize>344</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>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>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>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>7</SubIdx>
+ <Name>Minimum delay time</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>176</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Command</Name>
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+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Maximum delay time</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>224</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>SM event missed counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>288</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>12</SubIdx>
+ <Name>Cycle exceeded counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>304</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>Shift too short counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>320</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>32</SubIdx>
+ <Name>Sync error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>336</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6000</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>Status</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Data In</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6010</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>Sel. Ack/End counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Ramp active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Status of input target</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Status of input zero</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>21</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Sync error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>29</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>TxPDO Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>31</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6020</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>
+ <SubIdx>3</SubIdx>
+ <Name>Set counter done</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Counter underflow</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Counter overflow</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Sync error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>29</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>TxPDO Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>31</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7000</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>Ctrl</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Data Out</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7010</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>Frequency select</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Disable ramp</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Go counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Frequency value</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>Target counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7020</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>
+ <SubIdx>3</SubIdx>
+ <Name>Set counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Set counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8000</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>2</SubIdx>
+ <Name>Emergency ramp active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Watchdog timer deactive</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Sign/amount representation</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Rising edge clears/sets counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Ramp function active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>21</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Ramp base frequency</Name>
+ <Type>DT0800EN01</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Direct input mode</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>23</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Users switch-on-value on wdt</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>Travel distance control active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>25</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>Rising edge sets counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>26</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Operating mode</Name>
+ <Type>DT0801EN02</Type>
+ <BitSize>2</BitSize>
+ <BitOffs>29</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>15</SubIdx>
+ <Name>Negative logic</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>31</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8001</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>Users switch-on-value</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Base frequency 1</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Base frequency 2</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Ramp time constant (rising)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>96</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Ramp time constant (falling)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Frequency factor (Digit x 10mHz)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>128</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Slowing down frequency</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>144</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Ramp time constant (emergency)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>160</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8010</Name>
+ <BitSize>192</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>2</SubIdx>
+ <Name>Emergency ramp active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Watchdog timer deactive</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Sign/amount representation</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Ramp function active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>21</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Ramp base frequency</Name>
+ <Type>DT0802EN01</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Direct input mode</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>23</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Users switch-on-value on wdt</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>Travel distance control active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>25</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Operating mode</Name>
+ <Type>DT0803EN02</Type>
+ <BitSize>2</BitSize>
+ <BitOffs>29</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>Negative logic</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>31</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Users switch-on-value</Name>
+ <Type>UINT</Type>
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+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>Base frequency 1</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>19</SubIdx>
+ <Name>Base frequency 2</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>20</SubIdx>
+ <Name>Ramp time constant (rising)</Name>
+ <Type>UINT</Type>
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+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>21</SubIdx>
+ <Name>Ramp time constant (falling)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>128</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>22</SubIdx>
+ <Name>Frequency factor (Digit x 10mHz)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>144</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>23</SubIdx>
+ <Name>Slowing down frequency</Name>
+ <Type>UINT</Type>
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+ <BitOffs>160</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>24</SubIdx>
+ <Name>Ramp time constant (emergency)</Name>
+ <Type>UINT</Type>
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+ <BitOffs>176</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
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+ <Name>DT8800</Name>
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+ <Name>SubIndex 000</Name>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
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+ <SubIdx>1</SubIdx>
+ <Name>Target counter state</Name>
+ <Type>UDINT</Type>
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+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Maximum frequency</Name>
+ <Type>UINT</Type>
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+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
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+ </SubItem>
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+ <DataType>
+ <Name>DTA000</Name>
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+ <Access>ro</Access>
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+ </SubItem>
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+ <SubIdx>1</SubIdx>
+ <Name>Counter extension</Name>
+ <Type>UINT</Type>
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+ <Category>o</Category>
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+ </SubItem>
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+ <SubIdx>1</SubIdx>
+ <Name>Module index distance</Name>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
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+ <Name>Maximum number of modules</Name>
+ <Type>UINT</Type>
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+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
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+ <Category>o</Category>
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+ </SubItem>
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+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
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+ <Index>#x1000</Index>
+ <Name>Device type</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>89130000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
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+ </Object>
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+ <Name LcId="1033">EL2521-0124 1Ch. Pulse Train 24V DC Output Capture/Compare</Name>
+ <Name LcId="1031">EL2521-0124 1K. Pulse Train 24V DC Ausgang Capture/Compare</Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
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+ <Name>SubIndex 003</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>80</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
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+ <Name>SubIndex 004</Name>
+ <Type>UDINT</Type>
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+ <Flags>
+ <Access>ro</Access>
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+ <Name>SubIndex 005</Name>
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+ <BitSize>32</BitSize>
+ <BitOffs>144</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
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+ </SubItem>
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+ <Name>SubIndex 006</Name>
+ <Type>UDINT</Type>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>SubIndex 007</Name>
+ <Type>UDINT</Type>
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+ <BitOffs>208</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
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+ <Name>DT1603</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>SubIndex 001</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
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+ <DataType>
+ <Name>DT1801</Name>
+ <BitSize>40</BitSize>
+ <SubItem>
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+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Exclude TxPDOs</Name>
+ <Type>ARRAY [0..1] OF BYTE</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>TxPDO-Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
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+ </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>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>SubIndex 001</Name>
+ <Type>UDINT</Type>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
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+ <Name>SubIndex 002</Name>
+ <Type>UDINT</Type>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
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+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>SubIndex 003</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
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+ <Name>SubIndex 004</Name>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
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+ <SubItem>
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+ <Name>SubIndex 005</Name>
+ <Type>UDINT</Type>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
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+ <Name>SubIndex 006</Name>
+ <Type>UDINT</Type>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
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+ <Name>SubIndex 007</Name>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
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+ <SubItem>
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+ <Name>SubIndex 008</Name>
+ <Type>UDINT</Type>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1A01</Name>
+ <BitSize>432</BitSize>
+ <SubItem>
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+ <Name>SubIndex 000</Name>
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+ <BitOffs>0</BitOffs>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>SubIndex 001</Name>
+ <Type>UDINT</Type>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
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+ <Name>SubIndex 002</Name>
+ <Type>UDINT</Type>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
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+ <Type>UDINT</Type>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
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+ <Name>SubIndex 004</Name>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
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+ <SubItem>
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+ <Name>SubIndex 005</Name>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
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+ <Name>SubIndex 006</Name>
+ <Type>UDINT</Type>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
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+ <Type>UDINT</Type>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
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+ <Name>SubIndex 008</Name>
+ <Type>UDINT</Type>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
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+ <Name>SubIndex 009</Name>
+ <Type>UDINT</Type>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>SubIndex 010</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
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+ <Name>SubIndex 011</Name>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
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+ <Name>SubIndex 012</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>368</BitOffs>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>SubIndex 013</Name>
+ <Type>UDINT</Type>
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+ <BitOffs>400</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C00ARR</Name>
+ <BaseType>USINT</BaseType>
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+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>4</Elements>
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+ </DataType>
+ <DataType>
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+ <BitSize>48</BitSize>
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+ <Name>SubIndex 000</Name>
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+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
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+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C12ARR</Name>
+ <BaseType>UINT</BaseType>
+ <BitSize>64</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>4</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1C12</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
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+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
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+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C13ARR</Name>
+ <BaseType>UINT</BaseType>
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+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>3</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1C13</Name>
+ <BitSize>64</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
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+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1C13ARR</Type>
+ <BitSize>48</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C32</Name>
+ <BitSize>344</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
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+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Sync mode</Name>
+ <Type>UINT</Type>
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+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>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>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>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>Command</Name>
+ <Type>UINT</Type>
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+ <BitOffs>208</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</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>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>SM event missed counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>288</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>12</SubIdx>
+ <Name>Cycle exceeded counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>304</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>Shift too short counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>320</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>32</SubIdx>
+ <Name>Sync error</Name>
+ <Type>BOOL</Type>
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+ <BitOffs>336</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6000</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>Sel. Ack/End counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Ramp active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Sync Error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>29</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>TxPDO Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>31</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6010</Name>
+ <BitSize>96</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>2</SubIdx>
+ <Name>Latch extern valid</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Set counter done</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Counter underflow</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Counter overflow</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>Status of extern latch</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>28</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Sync Error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>29</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>TxPDO Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>31</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>Latch value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6020</Name>
+ <BitSize>32</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
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+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>PLS Enabled</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
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+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Status of output</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
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+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Sync Error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>29</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>TxPDO Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>31</BitOffs>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
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+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7000</Name>
+ <BitSize>80</BitSize>
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+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
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+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Frequency select</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
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+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Disable ramp</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
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+ <SubIdx>3</SubIdx>
+ <Name>Go counter</Name>
+ <Type>BOOL</Type>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
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+ <SubIdx>17</SubIdx>
+ <Name>Frequency value</Name>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
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+ <SubIdx>18</SubIdx>
+ <Name>Target counter value</Name>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
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+ <Access>ro</Access>
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+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Enable latch extern on positive edge</Name>
+ <Type>BOOL</Type>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
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+ <SubIdx>3</SubIdx>
+ <Name>Set counter</Name>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
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+ <SubIdx>4</SubIdx>
+ <Name>Enable latch extern on negative edge</Name>
+ <Type>BOOL</Type>
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+ <Access>ro</Access>
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+ <Name>Set counter value</Name>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
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+ <SubIdx>1</SubIdx>
+ <Name>Enable PLS</Name>
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+ <Access>ro</Access>
+ <Category>o</Category>
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+ <SubIdx>4</SubIdx>
+ <Name>Output</Name>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
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+ <SubIdx>17</SubIdx>
+ <Name>Switch on value</Name>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
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+ <Name>Switch off value</Name>
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+ <BitOffs>64</BitOffs>
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+ <Access>ro</Access>
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+ <PdoMapping>R</PdoMapping>
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+ </DataType>
+ <DataType>
+ <Name>DT8000</Name>
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+ <Access>ro</Access>
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+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
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+ <SubIdx>3</SubIdx>
+ <Name>Watchdog timer deactive</Name>
+ <Type>BOOL</Type>
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+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
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+ <SubIdx>4</SubIdx>
+ <Name>Sign/amount representation</Name>
+ <Type>BOOL</Type>
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+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
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+ <SubIdx>6</SubIdx>
+ <Name>Ramp function active</Name>
+ <Type>BOOL</Type>
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+ <BitOffs>21</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
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+ <SubIdx>7</SubIdx>
+ <Name>Ramp base frequency</Name>
+ <Type>DT0802EN01</Type>
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+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
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+ <SubIdx>8</SubIdx>
+ <Name>Direct input mode</Name>
+ <Type>BOOL</Type>
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+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
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+ <SubIdx>9</SubIdx>
+ <Name>Users switch-on-value on wdt</Name>
+ <Type>BOOL</Type>
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+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
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+ <SubIdx>10</SubIdx>
+ <Name>Travel distance control active</Name>
+ <Type>BOOL</Type>
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+ <BitOffs>25</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
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+ <SubIdx>11</SubIdx>
+ <Name>Output set active low</Name>
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+ <Access>rw</Access>
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+ <SubIdx>14</SubIdx>
+ <Name>Operating mode</Name>
+ <Type>DT0803EN02</Type>
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+ <Access>rw</Access>
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+ <SubIdx>16</SubIdx>
+ <Name>Negative logic</Name>
+ <Type>BOOL</Type>
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+ <Access>rw</Access>
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+ <Backup>1</Backup>
+ <Setting>1</Setting>
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+ <Name>Users switch-on-value</Name>
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+ <Access>rw</Access>
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+ <Backup>1</Backup>
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+ <SubIdx>18</SubIdx>
+ <Name>Base frequency 1</Name>
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+ <Access>rw</Access>
+ <Category>o</Category>
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+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
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+ <SubIdx>20</SubIdx>
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+ <Access>rw</Access>
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+ <SubIdx>21</SubIdx>
+ <Name>Ramp time constant (falling)</Name>
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+ <BitOffs>128</BitOffs>
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+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
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+ <SubIdx>22</SubIdx>
+ <Name>Frequency factor (Digit x 10mHz)</Name>
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+ <Access>rw</Access>
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+ <Backup>1</Backup>
+ <Setting>1</Setting>
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+ <SubIdx>23</SubIdx>
+ <Name>Slowing down frequency</Name>
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+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
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+ <SubIdx>24</SubIdx>
+ <Name>Ramp time constant (emergency)</Name>
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+ <Access>rw</Access>
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+ <SubIdx>1</SubIdx>
+ <Name>Module index distance</Name>
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+ <DefaultData>00000000</DefaultData>
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+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>7</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Error</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>6</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x1c32</Index>
+ <SubIndex>32</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Sync Error</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>1</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x1800</Index>
+ <SubIndex>9</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>TxPDO Toggle</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Sm="3">
+ <Index>#x1a01</Index>
+ <Name>ENC Status compact</Name>
+ <Exclude>#x1a04</Exclude>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>1</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Latch extern valid</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Set counter done</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>4</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Counter underflow</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>5</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Counter overflow</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>3</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>4</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>13</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status of extern latch</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x1c32</Index>
+ <SubIndex>32</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Sync Error</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
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+ <Index>#x0</Index>
+ <BitLen>1</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x1801</Index>
+ <SubIndex>9</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>TxPDO Toggle</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Counter value</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>18</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Latch value</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1">
+ <Index>#x1a04</Index>
+ <Name>ENC Status</Name>
+ <Exclude>#x1a01</Exclude>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>1</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Latch extern valid</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Set counter done</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>4</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Counter underflow</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>5</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Counter overflow</Name>
+ <DataType>BOOL</DataType>
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+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>3</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>4</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>13</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status of extern latch</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x1c32</Index>
+ <SubIndex>32</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Sync Error</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>1</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x1804</Index>
+ <SubIndex>9</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>TxPDO Toggle</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Counter value</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>18</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Latch value</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Sm="3">
+ <Index>#x1a02</Index>
+ <Name>PLS Status</Name>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>PLS Enabled</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>2</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>4</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status of output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>9</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x1c32</Index>
+ <SubIndex>32</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Sync Error</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>1</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x1802</Index>
+ <SubIndex>9</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>TxPDO Toggle</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <Mailbox DataLinkLayer="true">
+ <CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+ <FoE/>
+ </Mailbox>
+ <Dc>
+ <OpMode>
+ <Name>Synchron</Name>
+ <Desc>FreeRun/SM-Synchron</Desc>
+ <AssignActivate>#x0</AssignActivate>
+ <CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ </OpMode>
+ <OpMode>
+ <Name>DC</Name>
+ <Desc>DC-Synchron</Desc>
+ <AssignActivate>#x300</AssignActivate>
+ <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ </OpMode>
+ <OpMode>
+ <Name>DCIN</Name>
+ <Desc>DC-Synchron (input based)</Desc>
+ <AssignActivate>#x300</AssignActivate>
+ <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+ <ShiftTimeSync0 Input="1">0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ </OpMode>
+ </Dc>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0500030c32000000000000000000</ConfigData>
+ <BootStrap>0010f400f410f400</BootStrap>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x09d93052" RevisionNo="#x0011007c">EL2521-0124</Type>
+ <HideType RevisionNo="#x0010007c"/>
+ <Name LcId="1033">EL2521-0124 1Ch. Pulse Train 24V DC Output Capture/Compare</Name>
+ <Name LcId="1031">EL2521-0124 1K. Pulse Train 24V DC Ausgang Capture/Compare</Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>280</EBusCurrent>
+ </Electrical>
+ <Mailbox>
+ <Timeout>
+ <RequestTimeout>100</RequestTimeout>
+ <ResponseTimeout>2000</ResponseTimeout>
+ </Timeout>
+ </Mailbox>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Profile>
+ <ChannelInfo>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>253</AddInfo>
+ </ChannelInfo>
+ <ChannelInfo>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>511</AddInfo>
+ </ChannelInfo>
+ <ChannelInfo>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>512</AddInfo>
+ </ChannelInfo>
+ <Dictionary>
+ <DataTypes>
+ <DataType>
+ <Name>BIT2</Name>
+ <BitSize>2</BitSize>
+ </DataType>
+ <DataType>
+ <Name>BOOL</Name>
+ <BitSize>1</BitSize>
+ </DataType>
+ <DataType>
+ <Name>BYTE</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UDINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UINT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>USINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>ARRAY [0..1] OF BYTE</Name>
+ <BaseType>BYTE</BaseType>
+ <BitSize>16</BitSize>
+ <ArrayInfo>
+ <LBound>0</LBound>
+ <Elements>2</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>ARRAY [0..5] OF BYTE</Name>
+ <BaseType>BYTE</BaseType>
+ <BitSize>48</BitSize>
+ <ArrayInfo>
+ <LBound>0</LBound>
+ <Elements>6</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>STRING(11)</Name>
+ <BitSize>88</BitSize>
+ </DataType>
+ <DataType>
+ <Name>STRING(2)</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DT0802EN01</Name>
+ <BaseType>BOOL</BaseType>
+ <BitSize>1</BitSize>
+ <EnumInfo>
+ <Text>10 Hz</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>1 kHz</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0803EN02</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>2</BitSize>
+ <EnumInfo>
+ <Text>Frequency mod.</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Pulse-dir. ctrl</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Incremental enc.</Text>
+ <Enum>2</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1011ARR</Name>
+ <BaseType>UDINT</BaseType>
+ <BitSize>32</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>1</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1011</Name>
+ <BitSize>48</BitSize>
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+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
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+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
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+ <Name>Elements</Name>
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+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
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+ <Name>DT1018</Name>
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+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
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+ <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>
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+ <SubIdx>3</SubIdx>
+ <Name>Revision</Name>
+ <Type>UDINT</Type>
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+ <BitOffs>80</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
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+ <SubIdx>4</SubIdx>
+ <Name>Serial number</Name>
+ <Type>UDINT</Type>
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+ <BitOffs>112</BitOffs>
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+ <Access>ro</Access>
+ <Category>o</Category>
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+ <Name>SubIndex 000</Name>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
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+ <SubIdx>1</SubIdx>
+ <Name>Checksum</Name>
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+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
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+ </SubItem>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Exclude RxPDOs</Name>
+ <Type>ARRAY [0..5] OF BYTE</Type>
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+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
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+ </Flags>
+ </SubItem>
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+ <Name>DT1600</Name>
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+ <Access>ro</Access>
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+ <Name>SubIndex 003</Name>
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+ <BitOffs>80</BitOffs>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
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+ <Name>SubIndex 004</Name>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
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+ <Name>SubIndex 005</Name>
+ <Type>UDINT</Type>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
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+ </SubItem>
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+ <Access>ro</Access>
+ <Category>o</Category>
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+ <Name>SubIndex 000</Name>
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+ <Access>ro</Access>
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+ <Name>SubIndex 001</Name>
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+ <Access>ro</Access>
+ <Category>o</Category>
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+ <Access>ro</Access>
+ <Category>o</Category>
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+ <Type>UDINT</Type>
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+ <BitOffs>80</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
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+ <Name>SubIndex 004</Name>
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+ <BitOffs>112</BitOffs>
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+ <Access>ro</Access>
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+ <Name>SubIndex 005</Name>
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+ <Access>ro</Access>
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+ <Access>ro</Access>
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+ <Access>ro</Access>
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+ </Flags>
+ </SubItem>
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+ <SubIdx>6</SubIdx>
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+ <Type>ARRAY [0..1] OF BYTE</Type>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
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+ <SubIdx>9</SubIdx>
+ <Name>TxPDO-Toggle</Name>
+ <Type>BOOL</Type>
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+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
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+ <SubIdx>1</SubIdx>
+ <Name>SubIndex 001</Name>
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+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
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+ <Access>ro</Access>
+ <Category>o</Category>
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+ <Name>SubIndex 012</Name>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
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+ <Name>SubIndex 013</Name>
+ <Type>UDINT</Type>
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+ <BitOffs>400</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
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+ </SubItem>
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+ <Name>DT1C00ARR</Name>
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+ </ArrayInfo>
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+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C12ARR</Name>
+ <BaseType>UINT</BaseType>
+ <BitSize>64</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>4</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1C12</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
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+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
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+ <Name>DT1C13ARR</Name>
+ <BaseType>UINT</BaseType>
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+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>3</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1C13</Name>
+ <BitSize>64</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1C13ARR</Type>
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+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C32</Name>
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+ <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>
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+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>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>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>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>Command</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>208</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</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>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>SM event missed counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>288</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>12</SubIdx>
+ <Name>Cycle exceeded counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>304</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>Shift too short counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>320</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>32</SubIdx>
+ <Name>Sync error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>336</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6000</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>Sel. Ack/End counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Ramp active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Sync Error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>29</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>TxPDO Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>31</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6010</Name>
+ <BitSize>96</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>2</SubIdx>
+ <Name>Latch extern valid</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Set counter done</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Counter underflow</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Counter overflow</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>Status of extern latch</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>28</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Sync Error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>29</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>TxPDO Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>31</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>Latch value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6020</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>PLS Enabled</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Status of output</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Sync Error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>29</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>TxPDO Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>31</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7000</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>Frequency select</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Disable ramp</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Go counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Frequency value</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>Target counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7010</Name>
+ <BitSize>64</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
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+ <Name>Set counter done</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>4</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Counter underflow</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>5</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Counter overflow</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>3</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
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+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>13</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status of extern latch</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x1c32</Index>
+ <SubIndex>32</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Sync Error</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>1</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x1804</Index>
+ <SubIndex>9</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>TxPDO Toggle</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Counter value</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>18</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Latch value</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Sm="3">
+ <Index>#x1a02</Index>
+ <Name>PLS Status</Name>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>PLS Enabled</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>2</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>4</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status of output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>9</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x1c32</Index>
+ <SubIndex>32</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Sync Error</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
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+ <Index>#x0</Index>
+ <BitLen>1</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x1802</Index>
+ <SubIndex>9</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>TxPDO Toggle</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <Mailbox DataLinkLayer="true">
+ <CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+ <FoE/>
+ </Mailbox>
+ <Dc>
+ <OpMode>
+ <Name>Synchron</Name>
+ <Desc>FreeRun/SM-Synchron</Desc>
+ <AssignActivate>#x0</AssignActivate>
+ <CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ </OpMode>
+ <OpMode>
+ <Name>DC</Name>
+ <Desc>DC-Synchron</Desc>
+ <AssignActivate>#x300</AssignActivate>
+ <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ </OpMode>
+ <OpMode>
+ <Name>DCIN</Name>
+ <Desc>DC-Synchron (input based)</Desc>
+ <AssignActivate>#x300</AssignActivate>
+ <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+ <ShiftTimeSync0 Input="1">0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ </OpMode>
+ </Dc>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0500030c32000000000000000000</ConfigData>
+ <BootStrap>0010f400f410f400</BootStrap>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x9d93052" RevisionNo="#x0012007c">EL2521-0124</Type>
+ <HideType RevisionNo="#x0010007c"/>
+ <HideType RevisionNo="#x0011007c"/>
+ <Name LcId="1033">EL2521-0124 1Ch. Pulse Train 24V DC Output Capture/Compare</Name>
+ <Name LcId="1031">EL2521-0124 1K. Pulse Train 24V DC Ausgang Capture/Compare</Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>280</EBusCurrent>
+ </Electrical>
+ <Mailbox>
+ <Timeout>
+ <RequestTimeout>100</RequestTimeout>
+ <ResponseTimeout>2000</ResponseTimeout>
+ </Timeout>
+ </Mailbox>
+ <VendorSpecific>
+ <TwinCAT>
+ <AlternativeSmMapping Default="1">
+ <Name>Standard 16 Bit (MDP 253/511/512)</Name>
+ <Sm No="2">
+ <Pdo>#x1600</Pdo>
+ <Pdo>#x1601</Pdo>
+ <Pdo>#x1602</Pdo>
+ <Pdo>#x1603</Pdo>
+ </Sm>
+ <Sm No="3">
+ <Pdo>#x1a00</Pdo>
+ <Pdo>#x1a01</Pdo>
+ <Pdo>#x1a02</Pdo>
+ </Sm>
+ </AlternativeSmMapping>
+ <AlternativeSmMapping>
+ <Name>Standard 32 Bit (MDP 253/511/512)</Name>
+ <Sm No="2">
+ <Pdo>#x1600</Pdo>
+ <Pdo>#x1604</Pdo>
+ <Pdo>#x1605</Pdo>
+ <Pdo>#x1606</Pdo>
+ </Sm>
+ <Sm No="3">
+ <Pdo>#x1a00</Pdo>
+ <Pdo>#x1a02</Pdo>
+ <Pdo>#x1a04</Pdo>
+ </Sm>
+ </AlternativeSmMapping>
+ </TwinCAT>
+ </VendorSpecific>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Profile>
+ <ChannelInfo>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>253</AddInfo>
+ </ChannelInfo>
+ <ChannelInfo>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>511</AddInfo>
+ </ChannelInfo>
+ <ChannelInfo>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>512</AddInfo>
+ </ChannelInfo>
+ <Dictionary>
+ <DataTypes>
+ <DataType>
+ <Name>BIT2</Name>
+ <BitSize>2</BitSize>
+ </DataType>
+ <DataType>
+ <Name>BOOL</Name>
+ <BitSize>1</BitSize>
+ </DataType>
+ <DataType>
+ <Name>BYTE</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UDINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UINT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>USINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>ARRAY [0..1] OF BYTE</Name>
+ <BaseType>BYTE</BaseType>
+ <BitSize>16</BitSize>
+ <ArrayInfo>
+ <LBound>0</LBound>
+ <Elements>2</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>ARRAY [0..5] OF BYTE</Name>
+ <BaseType>BYTE</BaseType>
+ <BitSize>48</BitSize>
+ <ArrayInfo>
+ <LBound>0</LBound>
+ <Elements>6</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>STRING(11)</Name>
+ <BitSize>88</BitSize>
+ </DataType>
+ <DataType>
+ <Name>STRING(2)</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DT0802EN01</Name>
+ <BaseType>BOOL</BaseType>
+ <BitSize>1</BitSize>
+ <EnumInfo>
+ <Text>10 Hz</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>1 kHz</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0803EN02</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>2</BitSize>
+ <EnumInfo>
+ <Text>Frequency mod.</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Pulse-dir. ctrl</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Incremental enc.</Text>
+ <Enum>2</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1011ARR</Name>
+ <BaseType>UDINT</BaseType>
+ <BitSize>32</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>1</Elements>
+ </ArrayInfo>
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+ <Access>ro</Access>
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+ </Flags>
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+ <Name>Elements</Name>
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+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
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+ <Access>ro</Access>
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+ </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>
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+ <SubIdx>3</SubIdx>
+ <Name>Revision</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>80</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
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+ <SubIdx>4</SubIdx>
+ <Name>Serial number</Name>
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+ <Access>ro</Access>
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+ <Access>ro</Access>
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+ <Name>Checksum</Name>
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+ <Access>ro</Access>
+ <Category>o</Category>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Exclude RxPDOs</Name>
+ <Type>ARRAY [0..5] OF BYTE</Type>
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+ <Flags>
+ <Access>ro</Access>
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+ </SubItem>
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+ <Name>DT1600</Name>
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+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
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+ <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>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>SubIndex 007</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>208</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>SubIndex 008</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>240</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>SubIndex 009</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>272</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>SubIndex 010</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>304</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>SubIndex 011</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>336</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>12</SubIdx>
+ <Name>SubIndex 012</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>368</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>SubIndex 013</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>400</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>
+ <Name>DT1C12ARR</Name>
+ <BaseType>UINT</BaseType>
+ <BitSize>64</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>4</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1C12</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1C12ARR</Type>
+ <BitSize>64</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C13ARR</Name>
+ <BaseType>UINT</BaseType>
+ <BitSize>48</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>3</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1C13</Name>
+ <BitSize>64</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1C13ARR</Type>
+ <BitSize>48</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C32</Name>
+ <BitSize>344</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>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>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>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>7</SubIdx>
+ <Name>Minimum delay time</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>176</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Command</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>208</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Maximum delay time</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>224</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>SM event missed counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>288</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>12</SubIdx>
+ <Name>Cycle exceeded counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>304</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>Shift too short counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>320</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>32</SubIdx>
+ <Name>Sync error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>336</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6000</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>Sel. Ack/End counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Ramp active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Sync error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>29</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>TxPDO Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>31</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6010</Name>
+ <BitSize>96</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>2</SubIdx>
+ <Name>Latch extern valid</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Set counter done</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Counter underflow</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Counter overflow</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>Status of extern latch</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>28</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Sync error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>29</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>TxPDO Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>31</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>Latch value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6020</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>PLS Enabled</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Status of output</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Sync error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>29</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>TxPDO Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>31</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7000</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>Frequency select</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Disable ramp</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Go counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Frequency value</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>Target counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7010</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>
+ <SubIdx>2</SubIdx>
+ <Name>Enable latch extern on positive edge</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Set counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Enable latch extern on negative edge</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Set counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7020</Name>
+ <BitSize>96</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>Enable PLS</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Output</Name>
+ <Type>BOOL</Type>
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+ <Name>Status__Gap</Name>
+ </Entry>
+ <Entry>
+ <Index>#x1804</Index>
+ <SubIndex>9</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__TxPDO Toggle</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Counter value</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>18</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Latch value</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Sm="3">
+ <Index>#x1a02</Index>
+ <Name>PLS Status</Name>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__PLS Enabled</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>2</BitLen>
+ <Name>Status__</Name>
+ </Entry>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>4</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__Status of output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>9</BitLen>
+ <Name>Status__</Name>
+ </Entry>
+ <Entry>
+ <Index>#x1c32</Index>
+ <SubIndex>32</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__Sync error</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>1</BitLen>
+ <Name>Status__</Name>
+ </Entry>
+ <Entry>
+ <Index>#x1802</Index>
+ <SubIndex>9</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__TxPDO Toggle</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <Mailbox DataLinkLayer="true">
+ <CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+ <FoE/>
+ </Mailbox>
+ <Dc>
+ <OpMode>
+ <Name>Synchron</Name>
+ <Desc>FreeRun/SM-Synchron</Desc>
+ <AssignActivate>#x0</AssignActivate>
+ <CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ </OpMode>
+ <OpMode>
+ <Name>DC</Name>
+ <Desc>DC-Synchron</Desc>
+ <AssignActivate>#x300</AssignActivate>
+ <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+ <ShiftTimeSync0 Input="0">0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ </OpMode>
+ <OpMode>
+ <Name>DCIN</Name>
+ <Desc>DC-Synchron (input based)</Desc>
+ <AssignActivate>#x300</AssignActivate>
+ <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+ <ShiftTimeSync0 Input="1">0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ </OpMode>
+ </Dc>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0500030c32000000000000000000</ConfigData>
+ <BootStrap>0010f400f410f400</BootStrap>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x09D93052" RevisionNo="#x000003E9">EL2521-1001</Type>
+ <Name LcId="1033"><![CDATA[EL2521-1001 1Ch. Pulse Train Output]]></Name>
+ <Name LcId="1031"><![CDATA[EL2521-1001 1K. Pulse Train Ausgang]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>280</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Fmmu>Outputs</Fmmu>
+ <Fmmu>Inputs</Fmmu>
+ <Sm DefaultSize="54" StartAddress="6144" ControlByte="38" Enable="1">MBoxOut</Sm>
+ <Sm DefaultSize="54" StartAddress="6272" ControlByte="34" Enable="1">MBoxIn</Sm>
+ <Sm StartAddress="4096" ControlByte="36" Enable="1">Outputs</Sm>
+ <Sm StartAddress="4352" ControlByte="32" Enable="1">Inputs</Sm>
+ <RxPdo Fixed="1" Sm="2">
+ <Index>#x1600</Index>
+ <Name>Outputs</Name>
+ <Exclude>#x1601</Exclude>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Ctrl</Name>
+ <DataType>USINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Data Out</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1601</Index>
+ <Name>Outputs</Name>
+ <Exclude>#x1600</Exclude>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Ctrl</Name>
+ <DataType>USINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>0</Index>
+ <BitLen>8</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Data Out</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <TxPdo Fixed="1" Sm="3">
+ <Index>#x1a00</Index>
+ <Name>Inputs</Name>
+ <Exclude>#x1a01</Exclude>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Status</Name>
+ <DataType>USINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Data In</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1">
+ <Index>#x1a01</Index>
+ <Name>Inputs</Name>
+ <Exclude>#x1a00</Exclude>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Status</Name>
+ <DataType>USINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>0</Index>
+ <BitLen>8</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Data In</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </TxPdo>
+ <Mailbox>
+ <CoE SdoInfo="1" PdoAssign="1" PdoConfig="0"/>
+ <FoE/>
+ </Mailbox>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>050003000000</ConfigData>
+ <BootStrap>0018f400f418f400</BootStrap>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x09d93052" RevisionNo="#x000103e9">EL2521-1001</Type>
+ <HideType RevisionNo="#x000003E9" ProductRevision="EL2521-1001-0000 "/>
+ <Name LcId="1033"><![CDATA[EL2521-1001 1Ch. Pulse Train Output]]></Name>
+ <Name LcId="1031"><![CDATA[EL2521-1001 1K. Pulse Train Ausgang]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>280</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Profile>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>252</AddInfo>
+ <Dictionary>
+ <DataTypes>
+ <DataType>
+ <Name>BOOL</Name>
+ <BitSize>1</BitSize>
+ </DataType>
+ <DataType>
+ <Name>USINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UINT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UDINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>STRING(11)</Name>
+ <BitSize>88</BitSize>
+ </DataType>
+ <DataType>
+ <Name>STRING(16)</Name>
+ <BitSize>128</BitSize>
+ </DataType>
+ <DataType>
+ <Name>STRING(2)</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DT0029</Name>
+ <BitSize>16</BitSize>
+ <EnumInfo>
+ <Text>Free Run</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Synchron</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>SYNC0 Event</Text>
+ <Enum>2</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0800</Name>
+ <BitSize>1</BitSize>
+ <EnumInfo>
+ <Text>10 Hz</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>1 kHz</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0801</Name>
+ <BitSize>2</BitSize>
+ <EnumInfo>
+ <Text>Frequency mod.</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Pulse-dir. ctrl</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Incremental enc.</Text>
+ <Enum>2</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1011ARR</Name>
+ <BaseType>UDINT</BaseType>
+ <BitSize>32</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>1</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1011</Name>
+ <BitSize>48</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>No of Elements</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1011ARR</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1018</Name>
+ <BitSize>144</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>No of Elements</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ </Flags>
+ </SubItem>
+ <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>DT1600</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>No of Elements</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>RxPDO Mapping Element 1: Ctrl</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>RxPDO Mapping Element 2: Data Out</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1A00</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>No of Elements</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>TxPDO Mapping Element 1: Status</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>TxPDO Mapping Element 2: Data In</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</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>No of Elements</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1C00ARR</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C12</Name>
+ <BitSize>32</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>No of Elements</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <MinValue>0</MinValue>
+ <MaxValue>1</MaxValue>
+ <DefaultValue>1</DefaultValue>
+ <Flags>
+ <Access>rw</Access>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Assigned RxPDO</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <MinValue>#x1600</MinValue>
+ <MaxValue>#x1600</MaxValue>
+ <DefaultValue>#x1600</DefaultValue>
+ <Flags>
+ <Access>rw</Access>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C13</Name>
+ <BitSize>32</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>No of Elements</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <MinValue>0</MinValue>
+ <MaxValue>1</MaxValue>
+ <DefaultValue>1</DefaultValue>
+ <Flags>
+ <Access>rw</Access>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Assigned TxPDO</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <MinValue>#x1600</MinValue>
+ <MaxValue>#x1600</MaxValue>
+ <DefaultValue>#x1600</DefaultValue>
+ <Flags>
+ <Access>rw</Access>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6000</Name>
+ <BitSize>48</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>No of Elements</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Status</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Data In</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7000</Name>
+ <BitSize>48</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>No of Elements</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Ctrl</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Data Out</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8000</Name>
+ <BitSize>32</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>No of Elements</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Emergency ramp active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Watchdog timer deactive</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Sign/amount representation</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Rising edge clears/sets counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Ramp function active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>21</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Ramp base frequency</Name>
+ <Type>DT0800</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Direct input mode</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>23</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Users switch-on-value on wdt</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>Travel distance control active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>25</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>Rising edge sets counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>26</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Operating mode</Name>
+ <Type>DT0801</Type>
+ <BitSize>2</BitSize>
+ <BitOffs>29</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>15</SubIdx>
+ <Name>Negative logic</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>31</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8001</Name>
+ <BitSize>176</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>No of Elements</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Users switch-on-value</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <MinValue>#x00</MinValue>
+ <MaxValue>#xffff</MaxValue>
+ <DefaultValue>0</DefaultValue>
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+ <Access>rw</Access>
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+ </SubItem>
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+ <SubIdx>2</SubIdx>
+ <Name>Base frequency 1</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>32</BitOffs>
+ <MinValue>#x64</MinValue>
+ <MaxValue>#x0007a120</MaxValue>
+ <DefaultValue>50000</DefaultValue>
+ <Flags>
+ <Access>rw</Access>
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+ <Name>Base frequency 2</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>64</BitOffs>
+ <MinValue>#x64</MinValue>
+ <MaxValue>#x0007a120</MaxValue>
+ <DefaultValue>100000</DefaultValue>
+ <Flags>
+ <Access>rw</Access>
+ </Flags>
+ </SubItem>
+ <SubItem>
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+ <Name>Ramp time constant (rising)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>96</BitOffs>
+ <MinValue>#x00</MinValue>
+ <MaxValue>#xffff</MaxValue>
+ <DefaultValue>1000</DefaultValue>
+ <Flags>
+ <Access>rw</Access>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Ramp time constant (falling)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>112</BitOffs>
+ <MinValue>#x00</MinValue>
+ <MaxValue>#xffff</MaxValue>
+ <DefaultValue>1000</DefaultValue>
+ <Flags>
+ <Access>rw</Access>
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+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Frequency factor (Digit x 10mHz)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>128</BitOffs>
+ <MinValue>#x01</MinValue>
+ <MaxValue>#xffff</MaxValue>
+ <DefaultValue>100</DefaultValue>
+ <Flags>
+ <Access>rw</Access>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Slowing down frequency</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>144</BitOffs>
+ <MinValue>#x00</MinValue>
+ <MaxValue>#x7fff</MaxValue>
+ <DefaultValue>50</DefaultValue>
+ <Flags>
+ <Access>rw</Access>
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+ <SubIdx>8</SubIdx>
+ <Name>Ramp time constant (emergency)</Name>
+ <Type>UINT</Type>
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+ <BitOffs>160</BitOffs>
+ <MinValue>#x00</MinValue>
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+ <DefaultValue>1000</DefaultValue>
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+ <SubIdx>1</SubIdx>
+ <Name>Target counter state</Name>
+ <Type>UDINT</Type>
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+ <MaxValue>#xffffffff</MaxValue>
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+ <Access>rw</Access>
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+ <SubIdx>2</SubIdx>
+ <Name>Maximum frequency</Name>
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+ <MinValue>#x00</MinValue>
+ <MaxValue>#x7fff</MaxValue>
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+ <DataType>
+ <Name>DTA000</Name>
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+ <SubItem>
+ <SubIdx>1</SubIdx>
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+ <Access>ro</Access>
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+ <Name>DTF000ARR</Name>
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+ <Access>ro</Access>
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+ <Access>ro</Access>
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+ <Objects>
+ <Object>
+ <Index>#x1000</Index>
+ <Name>Device Type</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
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+ <DefaultData>00000000</DefaultData>
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+ <Flags>
+ <Access>ro</Access>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1008</Index>
+ <Name>Device Name</Name>
+ <Type>STRING(11)</Type>
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+ <DefaultData>454c323532312d31303031</DefaultData>
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+ <Flags>
+ <Access>ro</Access>
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+ <Index>#x1009</Index>
+ <Name>Hardware Version</Name>
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+ <Access>ro</Access>
+ </Flags>
+ </Object>
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+ <Index>#x100a</Index>
+ <Name>Software Version</Name>
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+ <Access>ro</Access>
+ </Flags>
+ </Object>
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+ <Index>#x1011</Index>
+ <Name>Load Default Settings</Name>
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+ <BitSize>48</BitSize>
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+ <DefaultData>010000000000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
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+ <DefaultData>0400020000005230d909e903010000000000</DefaultData>
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+ <Index>#x1600</Index>
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+ <BitSize>80</BitSize>
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+ <Flags>
+ <Access>ro</Access>
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+ <Index>#x1a00</Index>
+ <Name>Inputs</Name>
+ <Type>DT1A00</Type>
+ <BitSize>80</BitSize>
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+ <DefaultData>02001001006010020060</DefaultData>
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+ <Flags>
+ <Access>ro</Access>
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+ </Object>
+ <Object>
+ <Index>#x1c00</Index>
+ <Name>Sync Manager Type</Name>
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+ <BitSize>48</BitSize>
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+ <DefaultData>040001020304</DefaultData>
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+ <Access>ro</Access>
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+ <Index>#x1c01</Index>
+ <Name>Process Data Format</Name>
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+ <DefaultData>0001</DefaultData>
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+ <Access>rw</Access>
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+ <Index>#x1c12</Index>
+ <Name>SM 002 RxPDO Assign</Name>
+ <Type>DT1C12</Type>
+ <BitSize>32</BitSize>
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+ <DefaultData>01000016</DefaultData>
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+ <Index>#x1c13</Index>
+ <Name>SM 003 TxPDO Assign</Name>
+ <Type>DT1C13</Type>
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+ <DefaultData>01000016</DefaultData>
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+ <Name>Inputs</Name>
+ <Type>DT6000</Type>
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+ <Access>ro</Access>
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+ <Type>DT7000</Type>
+ <BitSize>48</BitSize>
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+ <DefaultData>020000000000</DefaultData>
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+ <Flags>
+ <Access>ro</Access>
+ </Flags>
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+ <Object>
+ <Index>#x8000</Index>
+ <Name>Feature bits</Name>
+ <Type>DT8000</Type>
+ <BitSize>32</BitSize>
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+ <DefaultData>0f003000</DefaultData>
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+ <Flags>
+ <Access>rw</Access>
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+ <Index>#x8001</Index>
+ <Name>User settings</Name>
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+ <DefaultData>0800000050c30000a0860100e803e80364003200e803</DefaultData>
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+ <Flags>
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+ <Object>
+ <Index>#x8800</Index>
+ <Name>Volatile Settings</Name>
+ <Type>DT8800</Type>
+ <BitSize>64</BitSize>
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+ <DefaultData>0200000000000000</DefaultData>
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+ <Flags>
+ <Access>rw</Access>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#xa000</Index>
+ <Name>Diagnostic Parameter</Name>
+ <Type>DTA000</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>01000000</DefaultData>
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+ <Flags>
+ <Access>ro</Access>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#xf000</Index>
+ <Name>Profile Settings</Name>
+ <Type>DTF000</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>02001001</DefaultData>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#xf008</Index>
+ <Name>Code Word</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ </Flags>
+ </Object>
+ </Objects>
+ </Dictionary>
+ </Profile>
+ <Fmmu>Outputs</Fmmu>
+ <Fmmu>Inputs</Fmmu>
+ <Sm DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+ <Sm DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+ <Sm StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+ <Sm StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+ <RxPdo Fixed="1" Sm="2">
+ <Index>#x1600</Index>
+ <Name>Outputs</Name>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Ctrl</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Data Out</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <TxPdo Fixed="1" Sm="3">
+ <Index>#x1a00</Index>
+ <Name>Inputs</Name>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Status</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Data In</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </TxPdo>
+ <Mailbox>
+ <CoE SdoInfo="1" PdoAssign="0" PdoConfig="0"/>
+ <FoE/>
+ </Mailbox>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>050003080000</ConfigData>
+ <BootStrap>0010f400f410f400</BootStrap>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x09d93052" RevisionNo="#x03F803E9">EL2521-1001</Type>
+ <HideType RevisionNo="#x000003E9" ProductRevision="EL2521-1001-0000 "/>
+ <HideType RevisionNo="#x000103E9" ProductRevision="EL2521-1001-0001 "/>
+ <Name LcId="1033">EL2521-1001 1Ch. Pulse Train Output</Name>
+ <Name LcId="1031">EL2521-1001 1K. Pulse Train Ausgang</Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>280</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Profile>
+ <ChannelInfo>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>252</AddInfo>
+ </ChannelInfo>
+ <ChannelInfo>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>253</AddInfo>
+ </ChannelInfo>
+ <ChannelInfo>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>511</AddInfo>
+ </ChannelInfo>
+ <Dictionary>
+ <DataTypes>
+ <DataType>
+ <Name>BIT2</Name>
+ <BitSize>0</BitSize>
+ </DataType>
+ <DataType>
+ <Name>BOOL</Name>
+ <BitSize>1</BitSize>
+ </DataType>
+ <DataType>
+ <Name>BYTE</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UDINT</Name>
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+ <DataType>
+ <Name>UINT</Name>
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+ <Name>USINT</Name>
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+ <DataType>
+ <Name>ARRAY [0..5] OF BYTE</Name>
+ <BaseType>BYTE</BaseType>
+ <BitSize>48</BitSize>
+ <ArrayInfo>
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+ <Elements>6</Elements>
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+ <DataType>
+ <Name>ARRAY [0..9] OF BYTE</Name>
+ <BaseType>BYTE</BaseType>
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+ <Elements>10</Elements>
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+ <DataType>
+ <Name>STRING(2)</Name>
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+ <DataType>
+ <Name>STRING(6)</Name>
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+ <DataType>
+ <Name>DT0800EN01</Name>
+ <BaseType>BOOL</BaseType>
+ <BitSize>1</BitSize>
+ <EnumInfo>
+ <Text>10 Hz</Text>
+ <Enum>0</Enum>
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+ <EnumInfo>
+ <Text>1 kHz</Text>
+ <Enum>1</Enum>
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+ </DataType>
+ <DataType>
+ <Name>DT0801EN02</Name>
+ <BaseType>USINT</BaseType>
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+ </EnumInfo>
+ <EnumInfo>
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+ <Enum>1</Enum>
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+ </DataType>
+ <DataType>
+ <Name>DT0802EN01</Name>
+ <BaseType>BOOL</BaseType>
+ <BitSize>1</BitSize>
+ <EnumInfo>
+ <Text>10 Hz</Text>
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+ <EnumInfo>
+ <Text>1 kHz</Text>
+ <Enum>1</Enum>
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+ </DataType>
+ <DataType>
+ <Name>DT0803EN02</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>2</BitSize>
+ <EnumInfo>
+ <Text>Frequency mod.</Text>
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+ </EnumInfo>
+ <EnumInfo>
+ <Text>Pulse-dir. ctrl</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Incremental enc.</Text>
+ <Enum>2</Enum>
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+ <SubIdx>6</SubIdx>
+ <Name>Exclude RxPDOs</Name>
+ <Type>ARRAY [0..9] OF BYTE</Type>
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+ <Access>ro</Access>
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+ <SubIdx>2</SubIdx>
+ <Name>SubIndex 002</Name>
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+ <BitOffs>48</BitOffs>
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+ <Access>ro</Access>
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+ </SubItem>
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+ <DataType>
+ <Name>DT1601</Name>
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+ <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>DT1602</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>DT1604</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>SubIndex 001</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1800</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>
+ <SubIdx>6</SubIdx>
+ <Name>Exclude TxPDOs</Name>
+ <Type>ARRAY [0..5] OF BYTE</Type>
+ <BitSize>48</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1801</Name>
+ <BitSize>72</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>6</SubIdx>
+ <Name>Exclude TxPDOs</Name>
+ <Type>ARRAY [0..5] OF BYTE</Type>
+ <BitSize>48</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>TxPDO-Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1A01</Name>
+ <BitSize>336</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>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>SubIndex 007</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>208</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>SubIndex 008</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>240</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>SubIndex 009</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>272</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>SubIndex 010</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>304</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>
+ <Name>DT1C12ARR</Name>
+ <BaseType>UINT</BaseType>
+ <BitSize>48</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>3</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1C12</Name>
+ <BitSize>64</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1C12ARR</Type>
+ <BitSize>48</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>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>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1C13ARR</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C32</Name>
+ <BitSize>280</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>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>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>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>Command</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>176</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Delay time</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>192</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>SM event missed counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>224</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>12</SubIdx>
+ <Name>Cycle exceeded counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>240</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>Shift too short counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>256</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>32</SubIdx>
+ <Name>Sync error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>272</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6000</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>Status</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Data In</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6010</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>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Sel. Ack/End counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Ramp active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Status of input target</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Status of input zero</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Sync Error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>21</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>TxPDO Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6020</Name>
+ <BitSize>56</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>3</SubIdx>
+ <Name>Set counter done</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Counter underflow</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Counter overflow</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Sync Error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>TxPDO Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7000</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>Ctrl</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Data Out</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7010</Name>
+ <BitSize>72</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>Frequency select</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Disable ramp</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Go counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Frequency value</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>Target counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>40</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7020</Name>
+ <BitSize>56</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>3</SubIdx>
+ <Name>Set counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Set counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8000</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>2</SubIdx>
+ <Name>Emergency ramp active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Watchdog timer deactive</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Sign/amount representation</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Rising edge clears/sets counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Ramp function active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Ramp base frequency</Name>
+ <Type>DT0800EN01</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>21</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Direct input mode</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Users switch-on-value on wdt</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>23</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>Travel distance control active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>Rising edge sets counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>25</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Operating mode</Name>
+ <Type>DT0801EN02</Type>
+ <BitSize>2</BitSize>
+ <BitOffs>26</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>15</SubIdx>
+ <Name>Negative logic</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>28</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8001</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>Users switch-on-value</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Base frequency 1</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Base frequency 2</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Ramp time constant (rising)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>96</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Ramp time constant (falling)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Frequency factor (Digit x 10mHz)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>128</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Slowing down frequency</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>144</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Ramp time constant (emergency)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>160</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8010</Name>
+ <BitSize>192</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>2</SubIdx>
+ <Name>Emergency ramp active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Watchdog timer deactive</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Sign/amount representation</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Ramp function active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Ramp base frequency</Name>
+ <Type>DT0802EN01</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Direct input mode</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>21</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Users switch-on-value on wdt</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>Travel distance control active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>23</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Operating mode</Name>
+ <Type>DT0803EN02</Type>
+ <BitSize>2</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>Negative logic</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>26</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Users switch-on-value</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>Base frequency 1</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>19</SubIdx>
+ <Name>Base frequency 2</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>20</SubIdx>
+ <Name>Ramp time constant (rising)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>21</SubIdx>
+ <Name>Ramp time constant (falling)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>128</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>22</SubIdx>
+ <Name>Frequency factor (Digit x 10mHz)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>144</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>23</SubIdx>
+ <Name>Slowing down frequency</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>160</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>24</SubIdx>
+ <Name>Ramp time constant (emergency)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>176</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8800</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>
+ <SubIdx>1</SubIdx>
+ <Name>Target counter state</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Maximum frequency</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DTA000</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>Counter extension</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</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>96</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>3</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DTF010</Name>
+ <BitSize>112</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
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+ <BitLen>16</BitLen>
+ <Name>Ctrl</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Data Out</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1601</Index>
+ <Name>PTO Control</Name>
+ <Exclude>#x1600</Exclude>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Frequency select</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Disable ramp</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Go counter</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>5</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>8</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Frequency value</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1604</Index>
+ <Name>PTO Target compact</Name>
+ <Exclude>#x1600</Exclude>
+ <Exclude>#x1605</Exclude>
+ <Exclude>#x1607</Exclude>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>18</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Target counter value</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1607</Index>
+ <Name>PTO Target</Name>
+ <Exclude>#x1600</Exclude>
+ <Exclude>#x1602</Exclude>
+ <Exclude>#x1604</Exclude>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>18</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Target counter value</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1602</Index>
+ <Name>ENC Control compact</Name>
+ <Exclude>#x1600</Exclude>
+ <Exclude>#x1605</Exclude>
+ <Exclude>#x1607</Exclude>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>2</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x7020</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Set counter</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>5</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>8</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x7020</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Set counter value</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1605</Index>
+ <Name>ENC Control</Name>
+ <Exclude>#x1600</Exclude>
+ <Exclude>#x1602</Exclude>
+ <Exclude>#x1604</Exclude>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>2</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x7020</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Set counter</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>5</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>8</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x7020</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Set counter value</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ </RxPdo>
+ <TxPdo Fixed="1" Sm="3">
+ <Index>#x1a00</Index>
+ <Name>Inputs</Name>
+ <Exclude>#x1a01</Exclude>
+ <Exclude>#x1a02</Exclude>
+ <Exclude>#x1a05</Exclude>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Status</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Data In</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1">
+ <Index>#x1a01</Index>
+ <Name>PTO Status</Name>
+ <Exclude>#x1a00</Exclude>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Sel. Ack/End counter</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Ramp active</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>2</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>5</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status of input target</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>6</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status of input zero</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>7</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Error</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>6</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x1c32</Index>
+ <SubIndex>32</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Sync Error</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>1</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x1801</Index>
+ <SubIndex>9</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>TxPDO Toggle</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1">
+ <Index>#x1a02</Index>
+ <Name>ENC Status compact</Name>
+ <Exclude>#x1a05</Exclude>
+ <Exclude>#x1a00</Exclude>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>2</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Set counter done</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>4</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Counter underflow</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>5</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Counter overflow</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>3</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>5</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x1c32</Index>
+ <SubIndex>32</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Sync Error</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>1</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x1802</Index>
+ <SubIndex>9</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>TxPDO Toggle</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Counter value</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1">
+ <Index>#x1a05</Index>
+ <Name>ENC Status</Name>
+ <Exclude>#x1a02</Exclude>
+ <Exclude>#x1a00</Exclude>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>2</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Set counter done</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>4</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Counter underflow</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>5</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Counter overflow</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>3</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>5</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x1c32</Index>
+ <SubIndex>32</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Sync Error</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>1</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x1805</Index>
+ <SubIndex>9</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>TxPDO Toggle</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Counter value</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ </TxPdo>
+ <Mailbox DataLinkLayer="true">
+ <CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+ <FoE/>
+ </Mailbox>
+ <Dc>
+ <OpMode>
+ <Name>Synchron</Name>
+ <Desc>FreeRun/SM-Synchron</Desc>
+ <AssignActivate>#x0</AssignActivate>
+ <CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ </OpMode>
+ <OpMode>
+ <Name>DC</Name>
+ <Desc>DC-Synchron</Desc>
+ <AssignActivate>#x300</AssignActivate>
+ <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ </OpMode>
+ </Dc>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0500030c32000000000000000000</ConfigData>
+ <BootStrap>0010f400f410f400</BootStrap>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x09d93052" RevisionNo="#x03F903E9">EL2521-1001</Type>
+ <HideType RevisionNo="#x000003E9"/>
+ <HideType RevisionNo="#x000103E9"/>
+ <HideType RevisionNo="#x03F803E9"/>
+ <Name LcId="1033">EL2521-1001 1Ch. Pulse Train Output</Name>
+ <Name LcId="1031">EL2521-1001 1K. Pulse Train Ausgang</Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>280</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Profile>
+ <ChannelInfo>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>252</AddInfo>
+ </ChannelInfo>
+ <ChannelInfo>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>253</AddInfo>
+ </ChannelInfo>
+ <ChannelInfo>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>511</AddInfo>
+ </ChannelInfo>
+ <Dictionary>
+ <DataTypes>
+ <DataType>
+ <Name>BIT2</Name>
+ <BitSize>0</BitSize>
+ </DataType>
+ <DataType>
+ <Name>BOOL</Name>
+ <BitSize>1</BitSize>
+ </DataType>
+ <DataType>
+ <Name>BYTE</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UDINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UINT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>USINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>ARRAY [0..5] OF BYTE</Name>
+ <BaseType>BYTE</BaseType>
+ <BitSize>48</BitSize>
+ <ArrayInfo>
+ <LBound>0</LBound>
+ <Elements>6</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>ARRAY [0..9] OF BYTE</Name>
+ <BaseType>BYTE</BaseType>
+ <BitSize>80</BitSize>
+ <ArrayInfo>
+ <LBound>0</LBound>
+ <Elements>10</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>STRING(2)</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>STRING(6)</Name>
+ <BitSize>48</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DT0800EN01</Name>
+ <BaseType>BOOL</BaseType>
+ <BitSize>1</BitSize>
+ <EnumInfo>
+ <Text>10 Hz</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>1 kHz</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0801EN02</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>2</BitSize>
+ <EnumInfo>
+ <Text>Frequency mod.</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Pulse-dir. ctrl</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Incremental enc.</Text>
+ <Enum>2</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0802EN01</Name>
+ <BaseType>BOOL</BaseType>
+ <BitSize>1</BitSize>
+ <EnumInfo>
+ <Text>10 Hz</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>1 kHz</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0803EN02</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>2</BitSize>
+ <EnumInfo>
+ <Text>Frequency mod.</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Pulse-dir. ctrl</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Incremental enc.</Text>
+ <Enum>2</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1011ARR</Name>
+ <BaseType>UDINT</BaseType>
+ <BitSize>32</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>1</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1011</Name>
+ <BitSize>48</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
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+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
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+ <DataType>
+ <Name>DT1018</Name>
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+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
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+ <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>
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+ <Name>DT10F0</Name>
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+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
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+ <Access>ro</Access>
+ <Category>o</Category>
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+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Checksum</Name>
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+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
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+ </SubItem>
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+ <Name>SubIndex 000</Name>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Exclude RxPDOs</Name>
+ <Type>ARRAY [0..9] OF BYTE</Type>
+ <BitSize>80</BitSize>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
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+ <Name>SubIndex 001</Name>
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+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
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+ <Name>SubIndex 002</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
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+ <Name>DT1601</Name>
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+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
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+ <BitOffs>0</BitOffs>
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+ <Access>ro</Access>
+ <Category>o</Category>
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+ <Name>SubIndex 001</Name>
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+ <BitOffs>16</BitOffs>
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+ <Access>ro</Access>
+ <Category>o</Category>
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+ </SubItem>
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+ <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>DT1602</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>DT1604</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>SubIndex 001</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1800</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>
+ <SubIdx>6</SubIdx>
+ <Name>Exclude TxPDOs</Name>
+ <Type>ARRAY [0..5] OF BYTE</Type>
+ <BitSize>48</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1801</Name>
+ <BitSize>72</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>6</SubIdx>
+ <Name>Exclude TxPDOs</Name>
+ <Type>ARRAY [0..5] OF BYTE</Type>
+ <BitSize>48</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>TxPDO-Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1A01</Name>
+ <BitSize>336</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>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>SubIndex 007</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>208</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>SubIndex 008</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>240</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>SubIndex 009</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>272</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>SubIndex 010</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>304</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>
+ <Name>DT1C12ARR</Name>
+ <BaseType>UINT</BaseType>
+ <BitSize>48</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>3</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1C12</Name>
+ <BitSize>64</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1C12ARR</Type>
+ <BitSize>48</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>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>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1C13ARR</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C32</Name>
+ <BitSize>280</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>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>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>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>Command</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>176</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Delay time</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>192</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>SM event missed counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>224</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>12</SubIdx>
+ <Name>Cycle exceeded counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>240</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>Shift too short counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>256</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>32</SubIdx>
+ <Name>Sync error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>272</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6000</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>Status</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Data In</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6010</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>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Sel. Ack/End counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Ramp active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Status of input target</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Status of input zero</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Sync Error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>21</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>TxPDO Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6020</Name>
+ <BitSize>56</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>3</SubIdx>
+ <Name>Set counter done</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Counter underflow</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Counter overflow</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Sync Error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>TxPDO Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7000</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>Ctrl</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Data Out</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7010</Name>
+ <BitSize>72</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>Frequency select</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Disable ramp</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Go counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Frequency value</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>Target counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>40</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7020</Name>
+ <BitSize>56</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>3</SubIdx>
+ <Name>Set counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Set counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8000</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>2</SubIdx>
+ <Name>Emergency ramp active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Watchdog timer deactive</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Sign/amount representation</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Rising edge clears/sets counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Ramp function active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Ramp base frequency</Name>
+ <Type>DT0800EN01</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>21</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Direct input mode</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Users switch-on-value on wdt</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>23</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>Travel distance control active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>Rising edge sets counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>25</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Operating mode</Name>
+ <Type>DT0801EN02</Type>
+ <BitSize>2</BitSize>
+ <BitOffs>26</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>15</SubIdx>
+ <Name>Negative logic</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>28</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8001</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>Users switch-on-value</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Base frequency 1</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Base frequency 2</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Ramp time constant (rising)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>96</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Ramp time constant (falling)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Frequency factor (Digit x 10mHz)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>128</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Slowing down frequency</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>144</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Ramp time constant (emergency)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>160</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8010</Name>
+ <BitSize>192</BitSize>
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+ <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>2</SubIdx>
+ <Name>Emergency ramp active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Watchdog timer deactive</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Sign/amount representation</Name>
+ <Type>BOOL</Type>
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+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Ramp function active</Name>
+ <Type>BOOL</Type>
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+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Ramp base frequency</Name>
+ <Type>DT0802EN01</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
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+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
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+ <SubIdx>8</SubIdx>
+ <Name>Direct input mode</Name>
+ <Type>BOOL</Type>
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+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
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+ <SubIdx>9</SubIdx>
+ <Name>Users switch-on-value on wdt</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>Travel distance control active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>23</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Operating mode</Name>
+ <Type>DT0803EN02</Type>
+ <BitSize>2</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>Negative logic</Name>
+ <Type>BOOL</Type>
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+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
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+ <SubIdx>17</SubIdx>
+ <Name>Users switch-on-value</Name>
+ <Type>UINT</Type>
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+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
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+ <SubIdx>18</SubIdx>
+ <Name>Base frequency 1</Name>
+ <Type>UDINT</Type>
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+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
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+ </SubItem>
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+ <SubIdx>19</SubIdx>
+ <Name>Base frequency 2</Name>
+ <Type>UDINT</Type>
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+ <BitOffs>80</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
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+ <SubIdx>20</SubIdx>
+ <Name>Ramp time constant (rising)</Name>
+ <Type>UINT</Type>
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+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>21</SubIdx>
+ <Name>Ramp time constant (falling)</Name>
+ <Type>UINT</Type>
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+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>22</SubIdx>
+ <Name>Frequency factor (Digit x 10mHz)</Name>
+ <Type>UINT</Type>
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+ <BitOffs>144</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
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+ <Name>Slowing down frequency</Name>
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+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
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+ </Flags>
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+ <Name>Ramp time constant (emergency)</Name>
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+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
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+ <DefaultData>454c32353231</DefaultData>
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+ <Name>Hardware version</Name>
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+ <Access>ro</Access>
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+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Shift time</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Sync modes supported</Name>
+ <Info>
+ <DefaultData>07c0</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Minimum cycle time</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Calc and copy time</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Command</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Delay time</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>SM event missed counter</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Cycle exceeded counter</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
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+ </SubItem>
+ <SubItem>
+ <Name>Shift too short counter</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
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+ </SubItem>
+ <SubItem>
+ <Name>Sync error</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
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+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x1c33</Index>
+ <Name>SM input parameter</Name>
+ <Type>DT1C32</Type>
+ <BitSize>280</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>20</DefaultData>
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+ </SubItem>
+ <SubItem>
+ <Name>Sync mode</Name>
+ <Info>
+ <DefaultData>2200</DefaultData>
+ </Info>
+ </SubItem>
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+ <Name>Cycle time</Name>
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+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Shift time</Name>
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+ <DefaultData>00000000</DefaultData>
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+ <Name>Sync modes supported</Name>
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+ <Name>Minimum cycle time</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
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+ <SubItem>
+ <Name>Calc and copy time</Name>
+ <Info>
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+ <SubItem>
+ <Name>Command</Name>
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+ <Name>Delay time</Name>
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+ <SubItem>
+ <Name>SM event missed counter</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
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+ </SubItem>
+ <SubItem>
+ <Name>Cycle exceeded counter</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
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+ </SubItem>
+ <SubItem>
+ <Name>Shift too short counter</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
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+ </SubItem>
+ <SubItem>
+ <Name>Sync error</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6000</Index>
+ <Name>Inputs</Name>
+ <Type>DT6000</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Status</Name>
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+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Data In</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6010</Index>
+ <Name>PTO Inputs</Name>
+ <Type>DT6010</Type>
+ <BitSize>24</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>10</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Sel. Ack/End counter</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Ramp active</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Status of input target</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Status of input zero</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Error</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6020</Index>
+ <Name>ENC Inputs</Name>
+ <Type>DT6020</Type>
+ <BitSize>56</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>16</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Set counter done</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Counter underflow</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Counter overflow</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Counter value</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x7000</Index>
+ <Name>Outputs</Name>
+ <Type>DT7000</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Ctrl</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Data Out</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x7010</Index>
+ <Name>PTO Outputs</Name>
+ <Type>DT7010</Type>
+ <BitSize>72</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>12</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Frequency select</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Disable ramp</Name>
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+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Go counter</Name>
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+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Frequency value</Name>
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+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Target counter value</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x7020</Index>
+ <Name>ENC Outputs</Name>
+ <Type>DT7020</Type>
+ <BitSize>56</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>11</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Set counter</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Set counter value</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x8000</Index>
+ <Name>Feature bits</Name>
+ <Type>DT8000</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>0f</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Emergency ramp active</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Watchdog timer deactive</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Sign/amount representation</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Rising edge clears/sets counter</Name>
+ <Info>
+ <DefaultData>01</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Ramp function active</Name>
+ <Info>
+ <DefaultData>01</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Ramp base frequency</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Direct input mode</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Users switch-on-value on wdt</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Travel distance control active</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Rising edge sets counter</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Operating mode</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Negative logic</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x8001</Index>
+ <Name>User settings</Name>
+ <Type>DT8001</Type>
+ <BitSize>176</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>08</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Users switch-on-value</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Base frequency 1</Name>
+ <Info>
+ <MinValue>100</MinValue>
+ <MaxValue>500000</MaxValue>
+ <DefaultValue>50000</DefaultValue>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Base frequency 2</Name>
+ <Info>
+ <MinValue>100</MinValue>
+ <MaxValue>500000</MaxValue>
+ <DefaultValue>100000</DefaultValue>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Ramp time constant (rising)</Name>
+ <Info>
+ <DefaultData>e803</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Ramp time constant (falling)</Name>
+ <Info>
+ <DefaultData>e803</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Frequency factor (Digit x 10mHz)</Name>
+ <Info>
+ <MinValue>1</MinValue>
+ <MaxValue>65535</MaxValue>
+ <DefaultValue>100</DefaultValue>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Slowing down frequency</Name>
+ <Info>
+ <MinValue>0</MinValue>
+ <MaxValue>32767</MaxValue>
+ <DefaultValue>50</DefaultValue>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Ramp time constant (emergency)</Name>
+ <Info>
+ <DefaultData>e803</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x8010</Index>
+ <Name>PTO Settings</Name>
+ <Type>DT8010</Type>
+ <BitSize>192</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>18</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Emergency ramp active</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Watchdog timer deactive</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Sign/amount representation</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Ramp function active</Name>
+ <Info>
+ <DefaultData>01</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Ramp base frequency</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Direct input mode</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Users switch-on-value on wdt</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Travel distance control active</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Operating mode</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Negative logic</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Users switch-on-value</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Base frequency 1</Name>
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+ <MinValue>100</MinValue>
+ <MaxValue>500000</MaxValue>
+ <DefaultValue>50000</DefaultValue>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Base frequency 2</Name>
+ <Info>
+ <MinValue>100</MinValue>
+ <MaxValue>500000</MaxValue>
+ <DefaultValue>100000</DefaultValue>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Ramp time constant (rising)</Name>
+ <Info>
+ <DefaultData>e803</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Ramp time constant (falling)</Name>
+ <Info>
+ <DefaultData>e803</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Frequency factor (Digit x 10mHz)</Name>
+ <Info>
+ <MinValue>1</MinValue>
+ <MaxValue>65535</MaxValue>
+ <DefaultValue>100</DefaultValue>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Slowing down frequency</Name>
+ <Info>
+ <MinValue>0</MinValue>
+ <MaxValue>32767</MaxValue>
+ <DefaultValue>50</DefaultValue>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Ramp time constant (emergency)</Name>
+ <Info>
+ <DefaultData>e803</DefaultData>
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+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x8800</Index>
+ <Name>Volatile settings</Name>
+ <Type>DT8800</Type>
+ <BitSize>64</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Target counter state</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Maximum frequency</Name>
+ <Info>
+ <MinValue>0</MinValue>
+ <MaxValue>32767</MaxValue>
+ <DefaultValue>0</DefaultValue>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#xa000</Index>
+ <Name>Diagnostic parameter</Name>
+ <Type>DTA000</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>01</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Counter extension</Name>
+ <Info>
+ <DefaultData>0000</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>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>#xf008</Index>
+ <Name>Code word</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#xf010</Index>
+ <Name>Module list</Name>
+ <Type>DTF010</Type>
+ <BitSize>112</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>03</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>SubIndex 001</Name>
+ <Info>
+ <DefaultData>fc000000</DefaultData>
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+ </SubItem>
+ <SubItem>
+ <Name>SubIndex 002</Name>
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+ <DefaultData>fd000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>SubIndex 003</Name>
+ <Info>
+ <DefaultData>ff010000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ </Objects>
+ </Dictionary>
+ </Profile>
+ <Fmmu>Outputs</Fmmu>
+ <Fmmu>Inputs</Fmmu>
+ <Sm MinSize="54" MaxSize="54" DefaultSize="54" StartAddress="#x1200" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+ <Sm MinSize="54" MaxSize="54" DefaultSize="54" StartAddress="#x1280" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+ <Sm DefaultSize="4" StartAddress="#x1000" ControlByte="#x24" Enable="1">Outputs</Sm>
+ <Sm DefaultSize="4" StartAddress="#x1100" ControlByte="#x20" Enable="1">Inputs</Sm>
+ <RxPdo Fixed="1" Sm="2">
+ <Index>#x1600</Index>
+ <Name>Outputs</Name>
+ <Exclude>#x1601</Exclude>
+ <Exclude>#x1604</Exclude>
+ <Exclude>#x1607</Exclude>
+ <Exclude>#x1602</Exclude>
+ <Exclude>#x1605</Exclude>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Ctrl</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Data Out</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1601</Index>
+ <Name>PTO Control</Name>
+ <Exclude>#x1600</Exclude>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Frequency select</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Disable ramp</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Go counter</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>5</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>8</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Frequency value</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1604</Index>
+ <Name>PTO Target compact</Name>
+ <Exclude>#x1600</Exclude>
+ <Exclude>#x1605</Exclude>
+ <Exclude>#x1607</Exclude>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>18</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Target counter value</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1607</Index>
+ <Name>PTO Target</Name>
+ <Exclude>#x1600</Exclude>
+ <Exclude>#x1602</Exclude>
+ <Exclude>#x1604</Exclude>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>18</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Target counter value</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1602</Index>
+ <Name>ENC Control compact</Name>
+ <Exclude>#x1600</Exclude>
+ <Exclude>#x1605</Exclude>
+ <Exclude>#x1607</Exclude>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>2</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x7020</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Set counter</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>5</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>8</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x7020</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Set counter value</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1">
+ <Index>#x1605</Index>
+ <Name>ENC Control</Name>
+ <Exclude>#x1600</Exclude>
+ <Exclude>#x1602</Exclude>
+ <Exclude>#x1604</Exclude>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>2</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x7020</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Set counter</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>5</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>8</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x7020</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Set counter value</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ </RxPdo>
+ <TxPdo Fixed="1" Sm="3">
+ <Index>#x1a00</Index>
+ <Name>Inputs</Name>
+ <Exclude>#x1a01</Exclude>
+ <Exclude>#x1a02</Exclude>
+ <Exclude>#x1a05</Exclude>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Status</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Data In</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1">
+ <Index>#x1a01</Index>
+ <Name>PTO Status</Name>
+ <Exclude>#x1a00</Exclude>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Sel. Ack/End counter</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>2</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Ramp active</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>2</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>5</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status of input target</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>6</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status of input zero</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>7</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Error</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>6</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x1c32</Index>
+ <SubIndex>32</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Sync Error</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>1</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x1801</Index>
+ <SubIndex>9</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>TxPDO Toggle</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1">
+ <Index>#x1a02</Index>
+ <Name>ENC Status compact</Name>
+ <Exclude>#x1a05</Exclude>
+ <Exclude>#x1a00</Exclude>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>2</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Set counter done</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>4</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Counter underflow</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>5</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Counter overflow</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>3</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>5</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x1c32</Index>
+ <SubIndex>32</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Sync Error</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>1</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x1802</Index>
+ <SubIndex>9</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>TxPDO Toggle</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Counter value</Name>
+ <DataType>UINT</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1">
+ <Index>#x1a05</Index>
+ <Name>ENC Status</Name>
+ <Exclude>#x1a02</Exclude>
+ <Exclude>#x1a00</Exclude>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>2</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>3</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Set counter done</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>4</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Counter underflow</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>5</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Counter overflow</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>3</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>5</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x1c32</Index>
+ <SubIndex>32</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Sync Error</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>1</BitLen>
+ </Entry>
+ <Entry>
+ <Index>#x1805</Index>
+ <SubIndex>9</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>TxPDO Toggle</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6020</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Counter value</Name>
+ <DataType>UDINT</DataType>
+ </Entry>
+ </TxPdo>
+ <Mailbox DataLinkLayer="true">
+ <CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+ <FoE/>
+ </Mailbox>
+ <Dc>
+ <OpMode>
+ <Name>Synchron</Name>
+ <Desc>FreeRun/SM-Synchron</Desc>
+ <AssignActivate>#x0</AssignActivate>
+ <CycleTimeSync0 Factor="0">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ </OpMode>
+ <OpMode>
+ <Name>DC</Name>
+ <Desc>DC-Synchron</Desc>
+ <AssignActivate>#x300</AssignActivate>
+ <CycleTimeSync0 Factor="1">0</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="1">0</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ </OpMode>
+ </Dc>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0500030c32000000000000000000</ConfigData>
+ <BootStrap>0010f400f410f400</BootStrap>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x9d93052" RevisionNo="#x3fa03e9">EL2521-1001</Type>
+ <HideType RevisionNo="#x00003e9"/>
+ <HideType RevisionNo="#x000103e9"/>
+ <HideType RevisionNo="#x3f803e9"/>
+ <HideType RevisionNo="#x3f903e9"/>
+ <Name LcId="1033">EL2521-1001 1Ch. Pulse Train Output</Name>
+ <Name LcId="1031">EL2521-1001 1K. Pulse Train Ausgang</Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2521]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2521]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>280</EBusCurrent>
+ </Electrical>
+ <Mailbox>
+ <Timeout>
+ <RequestTimeout>100</RequestTimeout>
+ <ResponseTimeout>2000</ResponseTimeout>
+ </Timeout>
+ </Mailbox>
+ <VendorSpecific>
+ <TwinCAT>
+ <AlternativeSmMapping>
+ <Name>Legacy (MDP 252)</Name>
+ <Sm No="2">
+ <Pdo>#x1600</Pdo>
+ </Sm>
+ <Sm No="3">
+ <Pdo>#x1a00</Pdo>
+ </Sm>
+ </AlternativeSmMapping>
+ <AlternativeSmMapping Default="1">
+ <Name>Standard 16 Bit (MDP 253/511)</Name>
+ <Sm No="2">
+ <Pdo>#x1601</Pdo>
+ <Pdo>#x1602</Pdo>
+ <Pdo>#x1604</Pdo>
+ </Sm>
+ <Sm No="3">
+ <Pdo>#x1a01</Pdo>
+ <Pdo>#x1a02</Pdo>
+ </Sm>
+ </AlternativeSmMapping>
+ <AlternativeSmMapping>
+ <Name>Standard 32 Bit (MDP 253/511)</Name>
+ <Sm No="2">
+ <Pdo>#x1601</Pdo>
+ <Pdo>#x1605</Pdo>
+ <Pdo>#x1607</Pdo>
+ </Sm>
+ <Sm No="3">
+ <Pdo>#x1a01</Pdo>
+ <Pdo>#x1a05</Pdo>
+ </Sm>
+ </AlternativeSmMapping>
+ </TwinCAT>
+ </VendorSpecific>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Profile>
+ <ChannelInfo>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>252</AddInfo>
+ </ChannelInfo>
+ <ChannelInfo>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>253</AddInfo>
+ </ChannelInfo>
+ <ChannelInfo>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>511</AddInfo>
+ </ChannelInfo>
+ <Dictionary>
+ <DataTypes>
+ <DataType>
+ <Name>BIT2</Name>
+ <BitSize>2</BitSize>
+ </DataType>
+ <DataType>
+ <Name>BOOL</Name>
+ <BitSize>1</BitSize>
+ </DataType>
+ <DataType>
+ <Name>BYTE</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UDINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UINT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>USINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>ARRAY [0..5] OF BYTE</Name>
+ <BaseType>BYTE</BaseType>
+ <BitSize>48</BitSize>
+ <ArrayInfo>
+ <LBound>0</LBound>
+ <Elements>6</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>ARRAY [0..9] OF BYTE</Name>
+ <BaseType>BYTE</BaseType>
+ <BitSize>80</BitSize>
+ <ArrayInfo>
+ <LBound>0</LBound>
+ <Elements>10</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>STRING(11)</Name>
+ <BitSize>88</BitSize>
+ </DataType>
+ <DataType>
+ <Name>STRING(2)</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DT0800EN01</Name>
+ <BaseType>BOOL</BaseType>
+ <BitSize>1</BitSize>
+ <EnumInfo>
+ <Text>10 Hz</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>1 kHz</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0801EN02</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>2</BitSize>
+ <EnumInfo>
+ <Text>Frequency mod.</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Pulse-dir. ctrl</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Incremental enc.</Text>
+ <Enum>2</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0802EN01</Name>
+ <BaseType>BOOL</BaseType>
+ <BitSize>1</BitSize>
+ <EnumInfo>
+ <Text>10 Hz</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>1 kHz</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0803EN02</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>2</BitSize>
+ <EnumInfo>
+ <Text>Frequency mod.</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Pulse-dir. ctrl</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Incremental enc.</Text>
+ <Enum>2</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1011ARR</Name>
+ <BaseType>UDINT</BaseType>
+ <BitSize>32</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>1</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1011</Name>
+ <BitSize>48</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
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+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1011ARR</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1018</Name>
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+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
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+ <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>
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+ </SubItem>
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+ <DataType>
+ <Name>DT10F0</Name>
+ <BitSize>48</BitSize>
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+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
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+ <BitOffs>0</BitOffs>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Checksum</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
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+ </SubItem>
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+ <Name>DT1400</Name>
+ <BitSize>96</BitSize>
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+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
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+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Exclude RxPDOs</Name>
+ <Type>ARRAY [0..9] OF BYTE</Type>
+ <BitSize>80</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
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+ <Name>DT1600</Name>
+ <BitSize>80</BitSize>
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+ <Type>USINT</Type>
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+ <Access>ro</Access>
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+ <SubIdx>1</SubIdx>
+ <Name>SubIndex 001</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
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+ </SubItem>
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+ <SubIdx>2</SubIdx>
+ <Name>SubIndex 002</Name>
+ <Type>UDINT</Type>
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+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
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+ </SubItem>
+ </DataType>
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+ <Name>DT1601</Name>
+ <BitSize>208</BitSize>
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+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
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+ <BitOffs>0</BitOffs>
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+ <Access>ro</Access>
+ <Category>o</Category>
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+ <SubIdx>1</SubIdx>
+ <Name>SubIndex 001</Name>
+ <Type>UDINT</Type>
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+ <Access>ro</Access>
+ <Category>o</Category>
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+ <SubIdx>2</SubIdx>
+ <Name>SubIndex 002</Name>
+ <Type>UDINT</Type>
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+ <BitOffs>48</BitOffs>
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+ <Access>ro</Access>
+ <Category>o</Category>
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+ </SubItem>
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+ <SubIdx>3</SubIdx>
+ <Name>SubIndex 003</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>80</BitOffs>
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+ <Access>ro</Access>
+ <Category>o</Category>
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+ </SubItem>
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+ <SubIdx>4</SubIdx>
+ <Name>SubIndex 004</Name>
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+ <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>
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+ <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>
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+ <Name>DT1602</Name>
+ <BitSize>176</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
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+ <Access>ro</Access>
+ <Category>o</Category>
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+ </SubItem>
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+ <SubIdx>1</SubIdx>
+ <Name>SubIndex 001</Name>
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+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
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+ <Access>ro</Access>
+ <Category>o</Category>
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+ </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>DT1604</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>SubIndex 001</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1800</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>
+ <SubIdx>6</SubIdx>
+ <Name>Exclude TxPDOs</Name>
+ <Type>ARRAY [0..5] OF BYTE</Type>
+ <BitSize>48</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1801</Name>
+ <BitSize>72</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>6</SubIdx>
+ <Name>Exclude TxPDOs</Name>
+ <Type>ARRAY [0..5] OF BYTE</Type>
+ <BitSize>48</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>TxPDO Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1A01</Name>
+ <BitSize>336</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>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>SubIndex 007</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>208</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>SubIndex 008</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>240</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>SubIndex 009</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>272</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>SubIndex 010</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>304</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>
+ <Name>DT1C12ARR</Name>
+ <BaseType>UINT</BaseType>
+ <BitSize>48</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>3</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1C12</Name>
+ <BitSize>64</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1C12ARR</Type>
+ <BitSize>48</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>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>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1C13ARR</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C32</Name>
+ <BitSize>344</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>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>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>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>7</SubIdx>
+ <Name>Minimum delay time</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>176</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Command</Name>
+ <Type>UINT</Type>
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+ <BitOffs>208</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Maximum delay time</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>224</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>SM event missed counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>288</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>12</SubIdx>
+ <Name>Cycle exceeded counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>304</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>Shift too short counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>320</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>32</SubIdx>
+ <Name>Sync error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>336</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6000</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>Status</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Data In</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6010</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>Sel. Ack/End counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Ramp active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Status of input target</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Status of input zero</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>21</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Sync error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>29</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>TxPDO Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>31</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6020</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>
+ <SubIdx>3</SubIdx>
+ <Name>Set counter done</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Counter underflow</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Counter overflow</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Sync error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>29</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>TxPDO Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>31</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7000</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>Ctrl</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Data Out</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7010</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>Frequency select</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Disable ramp</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Go counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Frequency value</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>Target counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7020</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>
+ <SubIdx>3</SubIdx>
+ <Name>Set counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Set counter value</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8000</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>2</SubIdx>
+ <Name>Emergency ramp active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Watchdog timer deactive</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Sign/amount representation</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Rising edge clears/sets counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Ramp function active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>21</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Ramp base frequency</Name>
+ <Type>DT0800EN01</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Direct input mode</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>23</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Users switch-on-value on wdt</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>Travel distance control active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>25</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>Rising edge sets counter</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>26</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Operating mode</Name>
+ <Type>DT0801EN02</Type>
+ <BitSize>2</BitSize>
+ <BitOffs>29</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>15</SubIdx>
+ <Name>Negative logic</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>31</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8001</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>Users switch-on-value</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Base frequency 1</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Base frequency 2</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Ramp time constant (rising)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>96</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Ramp time constant (falling)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Frequency factor (Digit x 10mHz)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>128</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Slowing down frequency</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>144</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Ramp time constant (emergency)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>160</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8010</Name>
+ <BitSize>192</BitSize>
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+ <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>2</SubIdx>
+ <Name>Emergency ramp active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Watchdog timer deactive</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Sign/amount representation</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Ramp function active</Name>
+ <Type>BOOL</Type>
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+ <BitOffs>21</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Ramp base frequency</Name>
+ <Type>DT0802EN01</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
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+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
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+ <SubIdx>8</SubIdx>
+ <Name>Direct input mode</Name>
+ <Type>BOOL</Type>
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+ <BitOffs>23</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Users switch-on-value on wdt</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>24</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>Travel distance control active</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>25</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Operating mode</Name>
+ <Type>DT0803EN02</Type>
+ <BitSize>2</BitSize>
+ <BitOffs>29</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>Negative logic</Name>
+ <Type>BOOL</Type>
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+ <BitOffs>31</BitOffs>
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+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
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+ <SubIdx>17</SubIdx>
+ <Name>Users switch-on-value</Name>
+ <Type>UINT</Type>
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+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
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+ <SubIdx>18</SubIdx>
+ <Name>Base frequency 1</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>19</SubIdx>
+ <Name>Base frequency 2</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>
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+ <SubIdx>20</SubIdx>
+ <Name>Ramp time constant (rising)</Name>
+ <Type>UINT</Type>
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+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
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+ <SubIdx>21</SubIdx>
+ <Name>Ramp time constant (falling)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>128</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>22</SubIdx>
+ <Name>Frequency factor (Digit x 10mHz)</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>144</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
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+ <SubIdx>23</SubIdx>
+ <Name>Slowing down frequency</Name>
+ <Type>UINT</Type>
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+ <BitOffs>160</BitOffs>
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+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
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+ <SubIdx>24</SubIdx>
+ <Name>Ramp time constant (emergency)</Name>
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+ <Access>rw</Access>
+ <Category>o</Category>
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+ <DefaultData>02000000</DefaultData>
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+ </SubItem>
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+ <DefaultData>0000</DefaultData>
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+ <Name>Set counter value</Name>
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+ <DefaultData>00000000</DefaultData>
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+ <Access>ro</Access>
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+ <Index>#x8000</Index>
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+ <Name>SubIndex 000</Name>
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+ <DefaultData>0f</DefaultData>
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+ <Name>Emergency ramp active</Name>
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+ <SubItem>
+ <Name>Watchdog timer deactive</Name>
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+ <DefaultData>00</DefaultData>
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+ <SubItem>
+ <Name>Sign/amount representation</Name>
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+ <DefaultData>00</DefaultData>
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+ <DefaultData>01</DefaultData>
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+ <Name>Ramp function active</Name>
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+ <Access>rw</Access>
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+ <Index>#x8001</Index>
+ <Name>User settings</Name>
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+ <Name>SubIndex 000</Name>
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+ <Name>Users switch-on-value</Name>
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+ <Name>Base frequency 1</Name>
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+ <MaxValue>#x7a120</MaxValue>
+ <DefaultValue>#xc350</DefaultValue>
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+ <MinValue>#x0</MinValue>
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+ <Index>#x8010</Index>
+ <Name>PTO Settings</Name>
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+ <DefaultValue>#x64</DefaultValue>
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+ <MaxValue>#x7fff</MaxValue>
+ <DefaultValue>#x0</DefaultValue>
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+ <Name>SubIndex 000</Name>
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+ <DefaultData>01</DefaultData>
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+ <Name>Module index distance</Name>
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+ <Name>Maximum number of modules</Name>
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+ <Name>Code word</Name>
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+ </Objects>
+ </Dictionary>
+ </Profile>
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+ <Name>Data Out</Name>
+ <DataType>UINT</DataType>
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+ </RxPdo>
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+ <Name>PTO Control</Name>
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+ <Name>Frequency value</Name>
+ <DataType>UINT</DataType>
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+ <Exclude>#x1607</Exclude>
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+ <Name>Target counter value</Name>
+ <DataType>UINT</DataType>
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+ <Name LcId="1031">EL2535 2K. Pulsweiten Strom Ausgang (24V, 1 A)</Name>
+ <URL LcId="1033">http://www.beckhoff.com/EL2535</URL>
+ <URL LcId="1031">http://www.beckhoff.de/EL2535</URL>
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+ <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>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>SubIndex 007</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>208</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>SubIndex 008</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>240</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>DT1C00ARR</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>32</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>4</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1C00</Name>
+ <BitSize>48</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1C00ARR</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>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>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1C12ARR</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C13ARR</Name>
+ <BaseType>UINT</BaseType>
+ <BitSize>64</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>4</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1C13</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1C13ARR</Type>
+ <BitSize>64</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C32</Name>
+ <BitSize>344</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>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>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>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>7</SubIdx>
+ <Name>Minimum delay time</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>176</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Command</Name>
+ <Type>UINT</Type>
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+ <BitOffs>208</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Maximum delay time</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>224</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>SM event missed counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>288</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>12</SubIdx>
+ <Name>Cycle exceeded counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>304</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>Shift too short counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>320</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>32</SubIdx>
+ <Name>Sync error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>336</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6000</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>
+ <SubIdx>1</SubIdx>
+ <Name>Digital input 1</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Ready to enable</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Warning</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>21</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>TxPDO Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>31</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Info data 1</Name>
+ <Type>INT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>Info data 2</Name>
+ <Type>INT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7000</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>Enable dithering</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Enable</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>21</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Reset</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>PWM output</Name>
+ <Type>INT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8000</Name>
+ <BitSize>232</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>3</SubIdx>
+ <Name>Enable dithering</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Invert polarity</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Watchdog</Name>
+ <Type>DT0803EN02</Type>
+ <BitSize>2</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>Offset</Name>
+ <Type>INT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>12</SubIdx>
+ <Name>Gain</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>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>Default output</Name>
+ <Type>INT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>80</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Default output ramp</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>96</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>Max current [%]</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>Kp factor</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>128</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>19</SubIdx>
+ <Name>Ki factor</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>144</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>20</SubIdx>
+ <Name>Kd factor</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>160</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>30</SubIdx>
+ <Name>Dithering frequency [Hz]</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>192</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>31</SubIdx>
+ <Name>Dithering amplitude [%]</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>208</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>33</SubIdx>
+ <Name>Select info data 1</Name>
+ <Type>DT0802EN08</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>216</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>34</SubIdx>
+ <Name>Select info data 2</Name>
+ <Type>DT0804EN08</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>224</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT800F</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>Offset</Name>
+ <Type>INT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Gain</Name>
+ <Type>INT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DTA000</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>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Overtemperature</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>17</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Undervoltage</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Overvoltage</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Short circuit</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>21</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>
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+ <Name>Warning</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Error</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Info data 1</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Info data 2</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6010</Index>
+ <Name>PWM Inputs Ch.2</Name>
+ <Type>DT6000</Type>
+ <BitSize>64</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>12</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Digital input 1</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Ready to enable</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Warning</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
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+ <SubItem>
+ <Name>Error</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Info data 1</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Info data 2</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x7000</Index>
+ <Name>PWM Outputs Ch.1</Name>
+ <Type>DT7000</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>11</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Enable dithering</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Enable</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Reset</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>PWM output</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x7010</Index>
+ <Name>PWM Outputs Ch.2</Name>
+ <Type>DT7000</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>11</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Enable dithering</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Enable</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Reset</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>PWM output</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x8000</Index>
+ <Name>PWM Settings Ch.1</Name>
+ <Type>DT8000</Type>
+ <BitSize>232</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>22</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Enable dithering</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Invert polarity</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Watchdog</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Offset</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Gain</Name>
+ <Info>
+ <MinValue>#xfffe0000</MinValue>
+ <MaxValue>#x1ffff</MaxValue>
+ <DefaultValue>#x10000</DefaultValue>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Default output</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Default output ramp</Name>
+ <Info>
+ <MinValue>#x1</MinValue>
+ <MaxValue>#xffff</MaxValue>
+ <DefaultValue>#xffff</DefaultValue>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Max current [%]</Name>
+ <Info>
+ <MinValue>#x1</MinValue>
+ <MaxValue>#x64</MaxValue>
+ <DefaultValue>#x64</DefaultValue>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Kp factor</Name>
+ <Info>
+ <DefaultData>fa00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Ki factor</Name>
+ <Info>
+ <DefaultData>0400</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Kd factor</Name>
+ <Info>
+ <DefaultData>3200</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Dithering frequency [Hz]</Name>
+ <Info>
+ <MinValue>#x1</MinValue>
+ <MaxValue>#x1f4</MaxValue>
+ <DefaultValue>#x64</DefaultValue>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Dithering amplitude [%]</Name>
+ <Info>
+ <MinValue>#x1</MinValue>
+ <MaxValue>#x1e</MaxValue>
+ <DefaultValue>#xa</DefaultValue>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Select info data 1</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Select info data 2</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x800f</Index>
+ <Name>PWM Vendor data Ch.1</Name>
+ <Type>DT800F</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Offset</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Gain</Name>
+ <Info>
+ <DefaultData>0040</DefaultData>
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+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x8010</Index>
+ <Name>PWM Settings Ch.2</Name>
+ <Type>DT8000</Type>
+ <BitSize>232</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>22</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Enable dithering</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Invert polarity</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Watchdog</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Offset</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Gain</Name>
+ <Info>
+ <MinValue>#xfffe0000</MinValue>
+ <MaxValue>#x1ffff</MaxValue>
+ <DefaultValue>#x10000</DefaultValue>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Default output</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Default output ramp</Name>
+ <Info>
+ <MinValue>#x1</MinValue>
+ <MaxValue>#xffff</MaxValue>
+ <DefaultValue>#xffff</DefaultValue>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Max current [%]</Name>
+ <Info>
+ <MinValue>#x1</MinValue>
+ <MaxValue>#x64</MaxValue>
+ <DefaultValue>#x64</DefaultValue>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Kp factor</Name>
+ <Info>
+ <DefaultData>fa00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Ki factor</Name>
+ <Info>
+ <DefaultData>0400</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Kd factor</Name>
+ <Info>
+ <DefaultData>3200</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Dithering frequency [Hz]</Name>
+ <Info>
+ <MinValue>#x1</MinValue>
+ <MaxValue>#x1f4</MaxValue>
+ <DefaultValue>#x64</DefaultValue>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Dithering amplitude [%]</Name>
+ <Info>
+ <MinValue>#x1</MinValue>
+ <MaxValue>#x1e</MaxValue>
+ <DefaultValue>#xa</DefaultValue>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Select info data 1</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Select info data 2</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x801f</Index>
+ <Name>PWM Vendor data Ch.2</Name>
+ <Type>DT800F</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
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+ </SubItem>
+ <SubItem>
+ <Name>Offset</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Gain</Name>
+ <Info>
+ <DefaultData>0040</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#xa000</Index>
+ <Name>PWM Diag data Ch.1</Name>
+ <Type>DTA000</Type>
+ <BitSize>24</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>07</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Overtemperature</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Undervoltage</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Overvoltage</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Short circuit</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#xa010</Index>
+ <Name>PWM Diag data Ch.2</Name>
+ <Type>DTA000</Type>
+ <BitSize>24</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>07</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Overtemperature</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Undervoltage</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Overvoltage</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Short circuit</Name>
+ <Info>
+ <DefaultData>00</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>1000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Maximum number of modules</Name>
+ <Info>
+ <DefaultData>0200</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#xf008</Index>
+ <Name>Code word</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#xf010</Index>
+ <Name>Module list</Name>
+ <Type>DTF010</Type>
+ <BitSize>80</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
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+ </SubItem>
+ <SubItem>
+ <Name>SubIndex 001</Name>
+ <Info>
+ <DefaultData>fa000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>SubIndex 002</Name>
+ <Info>
+ <DefaultData>fa000000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#xf900</Index>
+ <Name>PWM Info data</Name>
+ <Type>DTF900</Type>
+ <BitSize>40</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Voltage [mV]</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Temperature [°C]</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#xfb00</Index>
+ <Name>PWM Command</Name>
+ <Type>DTFB00</Type>
+ <BitSize>72</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>03</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="64" MaxSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+ <Sm MinSize="64" MaxSize="128" DefaultSize="128" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+ <Sm DefaultSize="8" StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
+ <Sm DefaultSize="4" StartAddress="#x1180" ControlByte="#x20" Enable="1">Inputs</Sm>
+ <RxPdo Fixed="1" Mandatory="1" Sm="2">
+ <Index>#x1600</Index>
+ <Name>PWM Control Channel 1</Name>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Control__Enable dithering</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>4</BitLen>
+ <Name>Control__</Name>
+ </Entry>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>6</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Control__Enable</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>7</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Control__Reset</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>9</BitLen>
+ <Name>Control__</Name>
+ </Entry>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>PWM output</Name>
+ <DataType>INT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="2">
+ <Index>#x1601</Index>
+ <Name>PWM Control Channel 2</Name>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Control__Enable dithering</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>4</BitLen>
+ <Name>Control__</Name>
+ </Entry>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>6</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Control__Enable</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>7</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Control__Reset</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>9</BitLen>
+ <Name>Control__</Name>
+ </Entry>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>PWM output</Name>
+ <DataType>INT</DataType>
+ </Entry>
+ </RxPdo>
+ <TxPdo Fixed="1" Sm="3">
+ <Index>#x1a00</Index>
+ <Name>PWM Status Channel 1</Name>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__Digital input 1</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>3</BitLen>
+ <Name>Status__Gap</Name>
+ </Entry>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>5</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__Ready to enable</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>6</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__Warning</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>7</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__Error</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>1</BitLen>
+ <Name>Status__Gap</Name>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>7</BitLen>
+ <Name>Status__Gap</Name>
+ </Entry>
+ <Entry>
+ <Index>#x1800</Index>
+ <SubIndex>9</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__TxPDO Toggle</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1">
+ <Index>#x1a01</Index>
+ <Name>PWM Synchron info data Channel 1</Name>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Info data 1</Name>
+ <DataType>INT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>18</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Info data 2</Name>
+ <DataType>INT</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Sm="3">
+ <Index>#x1a02</Index>
+ <Name>PWM Status Channel 2</Name>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__Digital input 1</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>3</BitLen>
+ <Name>Status__Gap</Name>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>5</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__Ready to enable</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>6</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__Warning</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>7</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__Error</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>1</BitLen>
+ <Name>Status__Gap</Name>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>7</BitLen>
+ <Name>Status__Gap</Name>
+ </Entry>
+ <Entry>
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+ <Name>Status__TxPDO Toggle</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1">
+ <Index>#x1a03</Index>
+ <Name>PWM Synchron info data Channel 2</Name>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Info data 1</Name>
+ <DataType>INT</DataType>
+ </Entry>
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+ <Index>#x6010</Index>
+ <SubIndex>18</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Info data 2</Name>
+ <DataType>INT</DataType>
+ </Entry>
+ </TxPdo>
+ <Mailbox DataLinkLayer="true">
+ <CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+ <FoE/>
+ </Mailbox>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>050003000a000000000000000000</ConfigData>
+ <BootStrap>0010f400f410f400</BootStrap>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x9e73052" RevisionNo="#x00100002">EL2535-0002</Type>
+ <Name LcId="1033">EL2535-0002 2Ch. Pulse Width Current Output (24V, 2 A)</Name>
+ <Name LcId="1031">EL2535-0002 2K. Pulsweiten Strom Ausgang (24V, 2 A)</Name>
+ <URL LcId="1033">http://www.beckhoff.com/EL2535</URL>
+ <URL LcId="1031">http://www.beckhoff.de/EL2535</URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>110</EBusCurrent>
+ </Electrical>
+ <Mailbox>
+ <Timeout>
+ <RequestTimeout>100</RequestTimeout>
+ <ResponseTimeout>2000</ResponseTimeout>
+ </Timeout>
+ </Mailbox>
+ <VendorSpecific>
+ <TwinCAT>
+ <AlternativeSmMapping Default="1">
+ <Name>Standard</Name>
+ <Sm No="2">
+ <Pdo>#x1600</Pdo>
+ <Pdo>#x1601</Pdo>
+ </Sm>
+ <Sm No="3">
+ <Pdo>#x1a00</Pdo>
+ <Pdo>#x1a02</Pdo>
+ </Sm>
+ </AlternativeSmMapping>
+ <AlternativeSmMapping>
+ <Name>Extended info data</Name>
+ <Sm No="2">
+ <Pdo>#x1600</Pdo>
+ <Pdo>#x1601</Pdo>
+ </Sm>
+ <Sm No="3">
+ <Pdo>#x1a00</Pdo>
+ <Pdo>#x1a01</Pdo>
+ <Pdo>#x1a02</Pdo>
+ <Pdo>#x1a03</Pdo>
+ </Sm>
+ </AlternativeSmMapping>
+ </TwinCAT>
+ </VendorSpecific>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Profile>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>250</AddInfo>
+ <ChannelCount>2</ChannelCount>
+ <Dictionary>
+ <DataTypes>
+ <DataType>
+ <Name>BIT2</Name>
+ <BitSize>2</BitSize>
+ </DataType>
+ <DataType>
+ <Name>BOOL</Name>
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+ </DataType>
+ <DataType>
+ <Name>BYTE</Name>
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+ </DataType>
+ <DataType>
+ <Name>DINT</Name>
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+ <Name>INT</Name>
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+ <DataType>
+ <Name>UDINT</Name>
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+ <DataType>
+ <Name>UINT</Name>
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+ <DataType>
+ <Name>USINT</Name>
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+ <DataType>
+ <Name>ARRAY [0..1] OF BYTE</Name>
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+ <DataType>
+ <Name>DT0802EN08</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>8</BitSize>
+ <EnumInfo>
+ <Text>Actual current Ch.1</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Set current Ch.1</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Duty cycle Ch.1</Text>
+ <Enum>2</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Supply voltage Ch.1</Text>
+ <Enum>3</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Actual current Ch.2</Text>
+ <Enum>32</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Set current Ch.2</Text>
+ <Enum>33</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Duty cycle Ch.2</Text>
+ <Enum>34</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Supply voltage Ch.2</Text>
+ <Enum>35</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0803EN02</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>2</BitSize>
+ <EnumInfo>
+ <Text>Default watchdog value</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Watchdog ramp aktiv</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Last output value aktiv</Text>
+ <Enum>2</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0804EN08</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>8</BitSize>
+ <EnumInfo>
+ <Text>Actual current Ch.1</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Set current Ch.1</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Duty cycle Ch.1</Text>
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+ </EnumInfo>
+ <EnumInfo>
+ <Text>Supply voltage Ch.1</Text>
+ <Enum>3</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Actual current Ch.2</Text>
+ <Enum>32</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Set current Ch.2</Text>
+ <Enum>33</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Duty cycle Ch.2</Text>
+ <Enum>34</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Supply voltage Ch.2</Text>
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+ <Access>ro</Access>
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+ <Access>ro</Access>
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+ <Access>ro</Access>
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+ <Category>o</Category>
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+ </SubItem>
+ <SubItem>
+ <SubIdx>32</SubIdx>
+ <Name>Sync error</Name>
+ <Type>BOOL</Type>
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+ <Access>ro</Access>
+ <Category>o</Category>
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+ <Name>DT6000</Name>
+ <BitSize>64</BitSize>
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+ <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>Digital input 1</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
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+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Ready to enable</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
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+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Warning</Name>
+ <Type>BOOL</Type>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
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+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
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+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>TxPDO Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>31</BitOffs>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
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+ <SubIdx>17</SubIdx>
+ <Name>Info data 1</Name>
+ <Type>INT</Type>
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+ <BitOffs>32</BitOffs>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
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+ <SubIdx>18</SubIdx>
+ <Name>Info data 2</Name>
+ <Type>INT</Type>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
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+ <DataType>
+ <Name>DT7000</Name>
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+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
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+ <BitOffs>0</BitOffs>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Enable dithering</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
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+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Enable</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
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+ <SubIdx>7</SubIdx>
+ <Name>Reset</Name>
+ <Type>BOOL</Type>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
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+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>PWM output</Name>
+ <Type>INT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
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+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
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+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8000</Name>
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+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
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+ <Access>ro</Access>
+ <Category>o</Category>
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+ </SubItem>
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+ <SubIdx>3</SubIdx>
+ <Name>Enable dithering</Name>
+ <Type>BOOL</Type>
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+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
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+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Invert polarity</Name>
+ <Type>BOOL</Type>
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+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
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+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Watchdog</Name>
+ <Type>DT0803EN02</Type>
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+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
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+ <SubIdx>11</SubIdx>
+ <Name>Offset</Name>
+ <Type>INT</Type>
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+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
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+ <SubItem>
+ <SubIdx>12</SubIdx>
+ <Name>Gain</Name>
+ <Type>DINT</Type>
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+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
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+ <Name>Default output</Name>
+ <Type>INT</Type>
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+ <BitOffs>80</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
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+ <SubIdx>14</SubIdx>
+ <Name>Default output ramp</Name>
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+ <Access>rw</Access>
+ <Category>o</Category>
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+ <Setting>1</Setting>
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+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
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+ <SubIdx>18</SubIdx>
+ <Name>Kp factor</Name>
+ <Type>UINT</Type>
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+ <BitOffs>128</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
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+ <Name>Ki factor</Name>
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+ <Access>rw</Access>
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+ <Setting>1</Setting>
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+ <Name>Kd factor</Name>
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+ <Access>rw</Access>
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+ <Access>rw</Access>
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+ <SubIdx>31</SubIdx>
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+ <Access>rw</Access>
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+ <Name>Select info data 1</Name>
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+ <Access>rw</Access>
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+ <Name>Select info data 2</Name>
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+ <Category>o</Category>
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+ <Access>ro</Access>
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+ <Access>ro</Access>
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+ <Access>ro</Access>
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+ <Type>ARRAY [0..3] OF BYTE</Type>
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+ <Flags>
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+ </Object>
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+ <Info>
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+ <SubItem>
+ <Name>Ki factor</Name>
+ <Info>
+ <DefaultData>0400</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Kd factor</Name>
+ <Info>
+ <DefaultData>3200</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Dithering frequency [Hz]</Name>
+ <Info>
+ <MinValue>#x1</MinValue>
+ <MaxValue>#x1f4</MaxValue>
+ <DefaultValue>#x64</DefaultValue>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Dithering amplitude [%]</Name>
+ <Info>
+ <MinValue>#x1</MinValue>
+ <MaxValue>#x1e</MaxValue>
+ <DefaultValue>#xa</DefaultValue>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Select info data 1</Name>
+ <Info>
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+ <Info>
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+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x801f</Index>
+ <Name>PWM Vendor data Ch.2</Name>
+ <Type>DT800F</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
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+ <SubItem>
+ <Name>Offset</Name>
+ <Info>
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+ </SubItem>
+ <SubItem>
+ <Name>Gain</Name>
+ <Info>
+ <DefaultData>0040</DefaultData>
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+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#xa000</Index>
+ <Name>PWM Diag data Ch.1</Name>
+ <Type>DTA000</Type>
+ <BitSize>24</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>07</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Overtemperature</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Undervoltage</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
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+ </SubItem>
+ <SubItem>
+ <Name>Overvoltage</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
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+ </SubItem>
+ <SubItem>
+ <Name>Short circuit</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
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+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#xa010</Index>
+ <Name>PWM Diag data Ch.2</Name>
+ <Type>DTA000</Type>
+ <BitSize>24</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>07</DefaultData>
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+ </SubItem>
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+ <Name>Overtemperature</Name>
+ <Info>
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+ </SubItem>
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+ <Name>Undervoltage</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
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+ <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>
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+ </SubItem>
+ <SubItem>
+ <Name>Module index distance</Name>
+ <Info>
+ <DefaultData>1000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Maximum number of modules</Name>
+ <Info>
+ <DefaultData>0200</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#xf008</Index>
+ <Name>Code word</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
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+ </Object>
+ <Object>
+ <Index>#xf010</Index>
+ <Name>Module list</Name>
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+ <BitSize>80</BitSize>
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+ <DefaultData>02</DefaultData>
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+ <DefaultData>fa000000</DefaultData>
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+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#xf900</Index>
+ <Name>PWM Info data</Name>
+ <Type>DTF900</Type>
+ <BitSize>40</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Voltage [mV]</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Temperature [°C]</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#xfb00</Index>
+ <Name>PWM Command</Name>
+ <Type>DTFB00</Type>
+ <BitSize>72</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>03</DefaultData>
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+ </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="64" MaxSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+ <Sm MinSize="64" MaxSize="128" DefaultSize="128" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+ <Sm DefaultSize="8" StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
+ <Sm DefaultSize="4" StartAddress="#x1180" ControlByte="#x20" Enable="1">Inputs</Sm>
+ <RxPdo Fixed="1" Mandatory="1" Sm="2">
+ <Index>#x1600</Index>
+ <Name>PWM Control Channel 1</Name>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>1</SubIndex>
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+ <Name>Control__Enable dithering</Name>
+ <DataType>BOOL</DataType>
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+ <Name>Control__Enable</Name>
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+ <Name>Control__Reset</Name>
+ <DataType>BOOL</DataType>
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+ <Index>#x7000</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>PWM output</Name>
+ <DataType>INT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="2">
+ <Index>#x1601</Index>
+ <Name>PWM Control Channel 2</Name>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Control__Enable dithering</Name>
+ <DataType>BOOL</DataType>
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+ <Name>Control__Enable</Name>
+ <DataType>BOOL</DataType>
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+ <Name>Control__Reset</Name>
+ <DataType>BOOL</DataType>
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+ <Name>Control__</Name>
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+ <Index>#x7010</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>PWM output</Name>
+ <DataType>INT</DataType>
+ </Entry>
+ </RxPdo>
+ <TxPdo Fixed="1" Sm="3">
+ <Index>#x1a00</Index>
+ <Name>PWM Status Channel 1</Name>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__Digital input 1</Name>
+ <DataType>BOOL</DataType>
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+ <Index>#x0</Index>
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+ <Name>Status__Gap</Name>
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+ <SubIndex>5</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__Ready to enable</Name>
+ <DataType>BOOL</DataType>
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+ <Index>#x6000</Index>
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+ <Name>Status__Warning</Name>
+ <DataType>BOOL</DataType>
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+ <Index>#x6000</Index>
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+ <Name>Status__Error</Name>
+ <DataType>BOOL</DataType>
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+ <Index>#x0</Index>
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+ <Name>Status__Gap</Name>
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+ <Name>Status__Gap</Name>
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+ <Entry>
+ <Index>#x1800</Index>
+ <SubIndex>9</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__TxPDO Toggle</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1">
+ <Index>#x1a01</Index>
+ <Name>PWM Synchron info data Channel 1</Name>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Info data 1</Name>
+ <DataType>INT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>18</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Info data 2</Name>
+ <DataType>INT</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Sm="3">
+ <Index>#x1a02</Index>
+ <Name>PWM Status Channel 2</Name>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__Digital input 1</Name>
+ <DataType>BOOL</DataType>
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+ <Name>Status__Ready to enable</Name>
+ <DataType>BOOL</DataType>
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+ <Name>Status__Warning</Name>
+ <DataType>BOOL</DataType>
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+ <Index>#x6010</Index>
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+ <Name>Status__Error</Name>
+ <DataType>BOOL</DataType>
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+ <Name>Status__Gap</Name>
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+ <Name>Status__Gap</Name>
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+ <Index>#x1802</Index>
+ <SubIndex>9</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__TxPDO Toggle</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1">
+ <Index>#x1a03</Index>
+ <Name>PWM Synchron info data Channel 2</Name>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Info data 1</Name>
+ <DataType>INT</DataType>
+ </Entry>
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+ <Index>#x6010</Index>
+ <SubIndex>18</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Info data 2</Name>
+ <DataType>INT</DataType>
+ </Entry>
+ </TxPdo>
+ <Mailbox DataLinkLayer="true">
+ <CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+ <FoE/>
+ </Mailbox>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>050003000a000000000000000000</ConfigData>
+ <BootStrap>0010f400f410f400</BootStrap>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x9e73052" RevisionNo="#x00100032">EL2535-0050</Type>
+ <Name LcId="1033">EL2535-0050 2Ch. Pulse Width Current Output (24V, 50 mA)</Name>
+ <Name LcId="1031">EL2535-0050 2K. Pulsweiten Strom Ausgang (24V, 50 mA)</Name>
+ <URL LcId="1033">http://www.beckhoff.com/EL2535</URL>
+ <URL LcId="1031">http://www.beckhoff.de/EL2535</URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>110</EBusCurrent>
+ </Electrical>
+ <Mailbox>
+ <Timeout>
+ <RequestTimeout>100</RequestTimeout>
+ <ResponseTimeout>2000</ResponseTimeout>
+ </Timeout>
+ </Mailbox>
+ <VendorSpecific>
+ <TwinCAT>
+ <AlternativeSmMapping Default="1">
+ <Name>Standard</Name>
+ <Sm No="2">
+ <Pdo>#x1600</Pdo>
+ <Pdo>#x1601</Pdo>
+ </Sm>
+ <Sm No="3">
+ <Pdo>#x1a00</Pdo>
+ <Pdo>#x1a02</Pdo>
+ </Sm>
+ </AlternativeSmMapping>
+ <AlternativeSmMapping>
+ <Name>Extended info data</Name>
+ <Sm No="2">
+ <Pdo>#x1600</Pdo>
+ <Pdo>#x1601</Pdo>
+ </Sm>
+ <Sm No="3">
+ <Pdo>#x1a00</Pdo>
+ <Pdo>#x1a01</Pdo>
+ <Pdo>#x1a02</Pdo>
+ <Pdo>#x1a03</Pdo>
+ </Sm>
+ </AlternativeSmMapping>
+ </TwinCAT>
+ </VendorSpecific>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Profile>
+ <ProfileNo>5001</ProfileNo>
+ <AddInfo>250</AddInfo>
+ <ChannelCount>2</ChannelCount>
+ <Dictionary>
+ <DataTypes>
+ <DataType>
+ <Name>BIT2</Name>
+ <BitSize>2</BitSize>
+ </DataType>
+ <DataType>
+ <Name>BOOL</Name>
+ <BitSize>1</BitSize>
+ </DataType>
+ <DataType>
+ <Name>BYTE</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>INT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UDINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UINT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>USINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>ARRAY [0..1] OF BYTE</Name>
+ <BaseType>BYTE</BaseType>
+ <BitSize>16</BitSize>
+ <ArrayInfo>
+ <LBound>0</LBound>
+ <Elements>2</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>ARRAY [0..3] OF BYTE</Name>
+ <BaseType>BYTE</BaseType>
+ <BitSize>32</BitSize>
+ <ArrayInfo>
+ <LBound>0</LBound>
+ <Elements>4</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>STRING(2)</Name>
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+ <Name>STRING(6)</Name>
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+ </DataType>
+ <DataType>
+ <Name>DT0802EN08</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>8</BitSize>
+ <EnumInfo>
+ <Text>Actual current Ch.1</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Set current Ch.1</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Duty cycle Ch.1</Text>
+ <Enum>2</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Supply voltage Ch.1</Text>
+ <Enum>3</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Actual current Ch.2</Text>
+ <Enum>32</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Set current Ch.2</Text>
+ <Enum>33</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Duty cycle Ch.2</Text>
+ <Enum>34</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Supply voltage Ch.2</Text>
+ <Enum>35</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0803EN02</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>2</BitSize>
+ <EnumInfo>
+ <Text>Default watchdog value</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Watchdog ramp aktiv</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Last output value aktiv</Text>
+ <Enum>2</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT0804EN08</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>8</BitSize>
+ <EnumInfo>
+ <Text>Actual current Ch.1</Text>
+ <Enum>0</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Set current Ch.1</Text>
+ <Enum>1</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Duty cycle Ch.1</Text>
+ <Enum>2</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Supply voltage Ch.1</Text>
+ <Enum>3</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Actual current Ch.2</Text>
+ <Enum>32</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Set current Ch.2</Text>
+ <Enum>33</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Duty cycle Ch.2</Text>
+ <Enum>34</Enum>
+ </EnumInfo>
+ <EnumInfo>
+ <Text>Supply voltage Ch.2</Text>
+ <Enum>35</Enum>
+ </EnumInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1011ARR</Name>
+ <BaseType>UDINT</BaseType>
+ <BitSize>32</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>1</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1011</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>DT1011ARR</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1018</Name>
+ <BitSize>144</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Vendor ID</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Product code</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Revision</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>80</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Serial number</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT10F0</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>Checksum</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1600</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>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>
+ <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>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>SubIndex 007</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>208</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>SubIndex 008</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>240</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>DT1C00ARR</Name>
+ <BaseType>USINT</BaseType>
+ <BitSize>32</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>4</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1C00</Name>
+ <BitSize>48</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1C00ARR</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>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>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1C12ARR</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C13ARR</Name>
+ <BaseType>UINT</BaseType>
+ <BitSize>64</BitSize>
+ <ArrayInfo>
+ <LBound>1</LBound>
+ <Elements>4</Elements>
+ </ArrayInfo>
+ </DataType>
+ <DataType>
+ <Name>DT1C13</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>SubIndex 000</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <Name>Elements</Name>
+ <Type>DT1C13ARR</Type>
+ <BitSize>64</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C32</Name>
+ <BitSize>344</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>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>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>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>7</SubIdx>
+ <Name>Minimum delay time</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>176</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>Command</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>208</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>Maximum delay time</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>224</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>SM event missed counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>288</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>12</SubIdx>
+ <Name>Cycle exceeded counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>304</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>Shift too short counter</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>320</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>32</SubIdx>
+ <Name>Sync error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>336</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT6000</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>
+ <SubIdx>1</SubIdx>
+ <Name>Digital input 1</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Ready to enable</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Warning</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>21</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Error</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>TxPDO Toggle</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>31</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>Info data 1</Name>
+ <Type>INT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>Info data 2</Name>
+ <Type>INT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>T</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT7000</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>Enable dithering</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>Enable</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>21</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>Reset</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>22</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>PWM output</Name>
+ <Type>INT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ <PdoMapping>R</PdoMapping>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT8000</Name>
+ <BitSize>232</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>3</SubIdx>
+ <Name>Enable dithering</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>18</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Invert polarity</Name>
+ <Type>BOOL</Type>
+ <BitSize>1</BitSize>
+ <BitOffs>19</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>Watchdog</Name>
+ <Type>DT0803EN02</Type>
+ <BitSize>2</BitSize>
+ <BitOffs>20</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>Offset</Name>
+ <Type>INT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>12</SubIdx>
+ <Name>Gain</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>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>Default output</Name>
+ <Type>INT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>80</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>Default output ramp</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>96</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>Max current [%]</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>Kp factor</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>128</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>19</SubIdx>
+ <Name>Ki factor</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>144</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>20</SubIdx>
+ <Name>Kd factor</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>160</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <Backup>1</Backup>
+ <Setting>1</Setting>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>30</SubIdx>
+ <Name>Dithering frequency [Hz]</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
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+ <Type>UDINT</Type>
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+ </SubItem>
+ <SubItem>
+ <Name>Calc and copy time</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Minimum delay time</Name>
+ <Info>
+ <DefaultData>84030000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Command</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Maximum delay time</Name>
+ <Info>
+ <DefaultData>84030000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>SM event missed counter</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Cycle exceeded counter</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Shift too short counter</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>DT1C32</Type>
+ <BitSize>344</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>20</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Sync mode</Name>
+ <Info>
+ <DefaultData>2200</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Cycle time</Name>
+ <Info>
+ <DefaultData>f0490200</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Shift time</Name>
+ <Info>
+ <DefaultData>84030000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Sync modes supported</Name>
+ <Info>
+ <DefaultData>07c0</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Minimum cycle time</Name>
+ <Info>
+ <DefaultData>f0490200</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Calc and copy time</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Minimum delay time</Name>
+ <Info>
+ <DefaultData>84030000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Command</Name>
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+ <DefaultData>0000</DefaultData>
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+ <Name>Maximum delay time</Name>
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+ <DefaultData>84030000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>SM event missed counter</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Cycle exceeded counter</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Shift too short counter</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>#x6000</Index>
+ <Name>PWM Inputs Ch.1</Name>
+ <Type>DT6000</Type>
+ <BitSize>64</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>12</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Digital input 1</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Ready to enable</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Warning</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Error</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Info data 1</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Info data 2</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6010</Index>
+ <Name>PWM Inputs Ch.2</Name>
+ <Type>DT6000</Type>
+ <BitSize>64</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>12</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Digital input 1</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Ready to enable</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Warning</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
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+ </SubItem>
+ <SubItem>
+ <Name>Error</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Info data 1</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Info data 2</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x7000</Index>
+ <Name>PWM Outputs Ch.1</Name>
+ <Type>DT7000</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>11</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Enable dithering</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Enable</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Reset</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>PWM output</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x7010</Index>
+ <Name>PWM Outputs Ch.2</Name>
+ <Type>DT7000</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>11</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Enable dithering</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Enable</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Reset</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>PWM output</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x8000</Index>
+ <Name>PWM Settings Ch.1</Name>
+ <Type>DT8000</Type>
+ <BitSize>232</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>22</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Enable dithering</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Invert polarity</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Watchdog</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Offset</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Gain</Name>
+ <Info>
+ <MinValue>#xfffe0000</MinValue>
+ <MaxValue>#x1ffff</MaxValue>
+ <DefaultValue>#x10000</DefaultValue>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Default output</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Default output ramp</Name>
+ <Info>
+ <MinValue>#x1</MinValue>
+ <MaxValue>#xffff</MaxValue>
+ <DefaultValue>#xffff</DefaultValue>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Max current [%]</Name>
+ <Info>
+ <MinValue>#x1</MinValue>
+ <MaxValue>#x64</MaxValue>
+ <DefaultValue>#x64</DefaultValue>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Kp factor</Name>
+ <Info>
+ <DefaultData>fa00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Ki factor</Name>
+ <Info>
+ <DefaultData>0400</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Kd factor</Name>
+ <Info>
+ <DefaultData>3200</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Dithering frequency [Hz]</Name>
+ <Info>
+ <MinValue>#x1</MinValue>
+ <MaxValue>#x1f4</MaxValue>
+ <DefaultValue>#x64</DefaultValue>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Dithering amplitude [%]</Name>
+ <Info>
+ <MinValue>#x1</MinValue>
+ <MaxValue>#x1e</MaxValue>
+ <DefaultValue>#xa</DefaultValue>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Select info data 1</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Select info data 2</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x800f</Index>
+ <Name>PWM Vendor data Ch.1</Name>
+ <Type>DT800F</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Offset</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Gain</Name>
+ <Info>
+ <DefaultData>0040</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x8010</Index>
+ <Name>PWM Settings Ch.2</Name>
+ <Type>DT8000</Type>
+ <BitSize>232</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>22</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Enable dithering</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Invert polarity</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Watchdog</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Offset</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Gain</Name>
+ <Info>
+ <MinValue>#xfffe0000</MinValue>
+ <MaxValue>#x1ffff</MaxValue>
+ <DefaultValue>#x10000</DefaultValue>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Default output</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Default output ramp</Name>
+ <Info>
+ <MinValue>#x1</MinValue>
+ <MaxValue>#xffff</MaxValue>
+ <DefaultValue>#xffff</DefaultValue>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Max current [%]</Name>
+ <Info>
+ <MinValue>#x1</MinValue>
+ <MaxValue>#x64</MaxValue>
+ <DefaultValue>#x64</DefaultValue>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Kp factor</Name>
+ <Info>
+ <DefaultData>fa00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Ki factor</Name>
+ <Info>
+ <DefaultData>0400</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Kd factor</Name>
+ <Info>
+ <DefaultData>3200</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Dithering frequency [Hz]</Name>
+ <Info>
+ <MinValue>#x1</MinValue>
+ <MaxValue>#x1f4</MaxValue>
+ <DefaultValue>#x64</DefaultValue>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Dithering amplitude [%]</Name>
+ <Info>
+ <MinValue>#x1</MinValue>
+ <MaxValue>#x1e</MaxValue>
+ <DefaultValue>#xa</DefaultValue>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Select info data 1</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Select info data 2</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x801f</Index>
+ <Name>PWM Vendor data Ch.2</Name>
+ <Type>DT800F</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Offset</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Gain</Name>
+ <Info>
+ <DefaultData>0040</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#xa000</Index>
+ <Name>PWM Diag data Ch.1</Name>
+ <Type>DTA000</Type>
+ <BitSize>24</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>07</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Overtemperature</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Undervoltage</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Overvoltage</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Short circuit</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#xa010</Index>
+ <Name>PWM Diag data Ch.2</Name>
+ <Type>DTA000</Type>
+ <BitSize>24</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>07</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Overtemperature</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Undervoltage</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Overvoltage</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Short circuit</Name>
+ <Info>
+ <DefaultData>00</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>1000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Maximum number of modules</Name>
+ <Info>
+ <DefaultData>0200</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#xf008</Index>
+ <Name>Code word</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#xf010</Index>
+ <Name>Module list</Name>
+ <Type>DTF010</Type>
+ <BitSize>80</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>SubIndex 001</Name>
+ <Info>
+ <DefaultData>fa000000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>SubIndex 002</Name>
+ <Info>
+ <DefaultData>fa000000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#xf900</Index>
+ <Name>PWM Info data</Name>
+ <Type>DTF900</Type>
+ <BitSize>40</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Voltage [mV]</Name>
+ <Info>
+ <DefaultData>0000</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Temperature [°C]</Name>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#xfb00</Index>
+ <Name>PWM Command</Name>
+ <Type>DTFB00</Type>
+ <BitSize>72</BitSize>
+ <Info>
+ <SubItem>
+ <Name>SubIndex 000</Name>
+ <Info>
+ <DefaultData>03</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="64" MaxSize="128" DefaultSize="128" StartAddress="#x1000" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+ <Sm MinSize="64" MaxSize="128" DefaultSize="128" StartAddress="#x1080" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+ <Sm DefaultSize="8" StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
+ <Sm DefaultSize="4" StartAddress="#x1180" ControlByte="#x20" Enable="1">Inputs</Sm>
+ <RxPdo Fixed="1" Mandatory="1" Sm="2">
+ <Index>#x1600</Index>
+ <Name>PWM Control Channel 1</Name>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Control__Enable dithering</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>4</BitLen>
+ <Name>Control__</Name>
+ </Entry>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>6</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Control__Enable</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>7</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Control__Reset</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>9</BitLen>
+ <Name>Control__</Name>
+ </Entry>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>PWM output</Name>
+ <DataType>INT</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="2">
+ <Index>#x1601</Index>
+ <Name>PWM Control Channel 2</Name>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Control__Enable dithering</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>4</BitLen>
+ <Name>Control__</Name>
+ </Entry>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>6</SubIndex>
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+ <Name>Control__Enable</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>7</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Control__Reset</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>9</BitLen>
+ <Name>Control__</Name>
+ </Entry>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>PWM output</Name>
+ <DataType>INT</DataType>
+ </Entry>
+ </RxPdo>
+ <TxPdo Fixed="1" Sm="3">
+ <Index>#x1a00</Index>
+ <Name>PWM Status Channel 1</Name>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__Digital input 1</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>3</BitLen>
+ <Name>Status__Gap</Name>
+ </Entry>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>5</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__Ready to enable</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>6</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__Warning</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>7</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__Error</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>1</BitLen>
+ <Name>Status__Gap</Name>
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+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>7</BitLen>
+ <Name>Status__Gap</Name>
+ </Entry>
+ <Entry>
+ <Index>#x1800</Index>
+ <SubIndex>9</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__TxPDO Toggle</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1">
+ <Index>#x1a01</Index>
+ <Name>PWM Synchron info data Channel 1</Name>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Info data 1</Name>
+ <DataType>INT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6000</Index>
+ <SubIndex>18</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Info data 2</Name>
+ <DataType>INT</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1" Sm="3">
+ <Index>#x1a02</Index>
+ <Name>PWM Status Channel 2</Name>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__Digital input 1</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>3</BitLen>
+ <Name>Status__Gap</Name>
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+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>5</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__Ready to enable</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>6</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__Warning</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>7</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__Error</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>1</BitLen>
+ <Name>Status__Gap</Name>
+ </Entry>
+ <Entry>
+ <Index>#x0</Index>
+ <BitLen>7</BitLen>
+ <Name>Status__Gap</Name>
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+ <Entry>
+ <Index>#x1802</Index>
+ <SubIndex>9</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Status__TxPDO Toggle</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </TxPdo>
+ <TxPdo Fixed="1">
+ <Index>#x1a03</Index>
+ <Name>PWM Synchron info data Channel 2</Name>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>17</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Info data 1</Name>
+ <DataType>INT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6010</Index>
+ <SubIndex>18</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Info data 2</Name>
+ <DataType>INT</DataType>
+ </Entry>
+ </TxPdo>
+ <Mailbox DataLinkLayer="true">
+ <CoE SdoInfo="1" PdoAssign="1" CompleteAccess="1"/>
+ <FoE/>
+ </Mailbox>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>050003000a000000000000000000</ConfigData>
+ <BootStrap>0010f400f410f400</BootStrap>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x0a2a3052" RevisionNo="#x00100000">EL2602</Type>
+ <Name LcId="1033"><![CDATA[EL2602 2Ch. Relay Output, NO (230V AC / 30V DC)]]></Name>
+ <Name LcId="1031"><![CDATA[EL2602 2K. Relais Ausgang, Schließer (230V AC / 30V DC)]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2602]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2602]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>170</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Fmmu OpOnly="1">Outputs</Fmmu>
+ <Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1600</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1601</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000f00</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x0a343052" RevisionNo="#x00100000">EL2612</Type>
+ <Name LcId="1033"><![CDATA[EL2612 2Ch. Relay Output, CO (125V AC / 30V DC)]]></Name>
+ <Name LcId="1031"><![CDATA[EL2612 2K. Relais Ausgang, Wechsler (125V AC / 30V DC)]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2612]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2612]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>150</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Fmmu OpOnly="1">Outputs</Fmmu>
+ <Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1600</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1601</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000f00</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x0a3e3052" RevisionNo="#x00100000">EL2622</Type>
+ <Name LcId="1033"><![CDATA[EL2622 2Ch. Relay Output, NO (230V AC / 30V DC)]]></Name>
+ <Name LcId="1031"><![CDATA[EL2622 2K. Relais Ausgang, Schließer (230V AC / 30V DC)]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2622]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2622]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>170</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Fmmu OpOnly="1">Outputs</Fmmu>
+ <Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1600</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1601</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000f00</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x0A403052" RevisionNo="#x00100000">EL2624</Type>
+ <Name LcId="1033"><![CDATA[EL2624 4Ch. Relay Output, NO (125V AC / 30V DC)]]></Name>
+ <Name LcId="1031"><![CDATA[EL2624 4K. Relais Ausgang, Schließer (125V AC / 30V DC)]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2624]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2624]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>200</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Fmmu OpOnly="1">Outputs</Fmmu>
+ <Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1600</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1601</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1602</Index>
+ <Name>Channel 3</Name>
+ <Entry>
+ <Index>#x7020</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1603</Index>
+ <Name>Channel 4</Name>
+ <Entry>
+ <Index>#x7030</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000f00</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x0a983052" RevisionNo="#x00100000">EL2712</Type>
+ <Name LcId="1033"><![CDATA[EL2712 2Ch. Triac Output 12..230V AC, 0.5A]]></Name>
+ <Name LcId="1031"><![CDATA[EL2712 2K. Triac Ausgang 12..230V AC, 0.5A]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2712]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2712]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>100</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Fmmu OpOnly="1">Outputs</Fmmu>
+ <Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1600</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1601</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000f00</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x0aa23052" RevisionNo="#x00100000">EL2722</Type>
+ <Name LcId="1033"><![CDATA[EL2722 2Ch. Triac Output 12..230V AC, 1.0A, mutually locked]]></Name>
+ <Name LcId="1031"><![CDATA[EL2722 2K. Triac Ausgang 12..230V AC, 1.0A, gegenseitig verriegelt]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2722]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2722]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>100</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Fmmu OpOnly="1">Outputs</Fmmu>
+ <Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1600</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1601</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000f00</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x0aac3052" RevisionNo="#x00100000">EL2732</Type>
+ <Name LcId="1033"><![CDATA[EL2732 2Ch. Triac Output 12..230V AC, 0.5A, no power contacts]]></Name>
+ <Name LcId="1031"><![CDATA[EL2732 2K. Triac Ausgang 12..230V AC, 0.5A, keine Powerkontakte]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2732]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2732]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>100</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Fmmu OpOnly="1">Outputs</Fmmu>
+ <Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1600</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1601</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000f00</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x0AEE3052" RevisionNo="#x00100000">EL2798</Type>
+ <Name LcId="1033"><![CDATA[EL2798 8Ch. Dig. Output 24V AC/DC, 2A, potential-free]]></Name>
+ <Name LcId="1031"><![CDATA[EL2798 8K. Dig. Ausgang 24V AC/DC, 2A, potentialfrei]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2798]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2798]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>140</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Fmmu OpOnly="1">Outputs</Fmmu>
+ <Sm StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1600</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1601</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1602</Index>
+ <Name>Channel 3</Name>
+ <Entry>
+ <Index>#x7020</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1603</Index>
+ <Name>Channel 4</Name>
+ <Entry>
+ <Index>#x7030</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1604</Index>
+ <Name>Channel 5</Name>
+ <Entry>
+ <Index>#x7040</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1605</Index>
+ <Name>Channel 6</Name>
+ <Entry>
+ <Index>#x7050</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1606</Index>
+ <Name>Channel 7</Name>
+ <Entry>
+ <Index>#x7060</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1607</Index>
+ <Name>Channel 8</Name>
+ <Entry>
+ <Index>#x7070</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>0401000000000f00</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x0AF83052" RevisionNo="#x00100000">EL2808</Type>
+ <Name LcId="1033"><![CDATA[EL2808 8Ch. Dig. Output 24V, 0.5A]]></Name>
+ <Name LcId="1031"><![CDATA[EL2808 8K. Dig. Ausgang 24V, 0.5A]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2808]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2808]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>110</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Fmmu OpOnly="1">Outputs</Fmmu>
+ <Sm MinSize="1" MaxSize="1" DefaultSize="1" StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1600</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1601</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
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+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1602</Index>
+ <Name>Channel 3</Name>
+ <Entry>
+ <Index>#x7020</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1603</Index>
+ <Name>Channel 4</Name>
+ <Entry>
+ <Index>#x7030</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1604</Index>
+ <Name>Channel 5</Name>
+ <Entry>
+ <Index>#x7040</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1605</Index>
+ <Name>Channel 6</Name>
+ <Entry>
+ <Index>#x7050</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1606</Index>
+ <Name>Channel 7</Name>
+ <Entry>
+ <Index>#x7060</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1607</Index>
+ <Name>Channel 8</Name>
+ <Entry>
+ <Index>#x7070</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>040100000000ff00</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x0AF93052" RevisionNo="#x00100000">EL2809</Type>
+ <Name LcId="1033"><![CDATA[EL2809 16Ch. Dig. Output 24V, 0.5A]]></Name>
+ <Name LcId="1031"><![CDATA[EL2809 16K. Dig. Ausgang 24V, 0.5A]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2809]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2809]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>140</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Fmmu OpOnly="1">Outputs</Fmmu>
+ <Sm DefaultSize="1" StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+ <Sm DefaultSize="1" StartAddress="#x0f01" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1600</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1601</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1602</Index>
+ <Name>Channel 3</Name>
+ <Entry>
+ <Index>#x7020</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1603</Index>
+ <Name>Channel 4</Name>
+ <Entry>
+ <Index>#x7030</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1604</Index>
+ <Name>Channel 5</Name>
+ <Entry>
+ <Index>#x7040</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1605</Index>
+ <Name>Channel 6</Name>
+ <Entry>
+ <Index>#x7050</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1606</Index>
+ <Name>Channel 7</Name>
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+ <Index>#x7060</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1607</Index>
+ <Name>Channel 8</Name>
+ <Entry>
+ <Index>#x7070</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x1608</Index>
+ <Name>Channel 9</Name>
+ <Entry>
+ <Index>#x7080</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x1609</Index>
+ <Name>Channel 10</Name>
+ <Entry>
+ <Index>#x7090</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x160a</Index>
+ <Name>Channel 11</Name>
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+ <Index>#x70a0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x160b</Index>
+ <Name>Channel 12</Name>
+ <Entry>
+ <Index>#x70b0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x160c</Index>
+ <Name>Channel 13</Name>
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+ <Index>#x70c0</Index>
+ <SubIndex>1</SubIndex>
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+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x160d</Index>
+ <Name>Channel 14</Name>
+ <Entry>
+ <Index>#x70d0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x160e</Index>
+ <Name>Channel 15</Name>
+ <Entry>
+ <Index>#x70e0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x160f</Index>
+ <Name>Channel 16</Name>
+ <Entry>
+ <Index>#x70f0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>040100000000ff00</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x0B383052" RevisionNo="#x00100000">EL2872</Type>
+ <Name LcId="1033"><![CDATA[EL2872 16Ch. Dig. Output 24V, 0.5A]]></Name>
+ <Name LcId="1031"><![CDATA[EL2872 16K. Dig. Ausgang 24V, 0.5A]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2872]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2872]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>130</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Fmmu OpOnly="1">Outputs</Fmmu>
+ <Sm DefaultSize="1" StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+ <Sm DefaultSize="1" StartAddress="#x0f01" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1600</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1601</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1602</Index>
+ <Name>Channel 3</Name>
+ <Entry>
+ <Index>#x7020</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1603</Index>
+ <Name>Channel 4</Name>
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+ <Index>#x7030</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1604</Index>
+ <Name>Channel 5</Name>
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+ <Index>#x7040</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1605</Index>
+ <Name>Channel 6</Name>
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+ <Index>#x7050</Index>
+ <SubIndex>1</SubIndex>
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+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
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+ <Name>Channel 7</Name>
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+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
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+ <Name>Channel 8</Name>
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+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x1608</Index>
+ <Name>Channel 9</Name>
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+ <Index>#x7080</Index>
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+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x1609</Index>
+ <Name>Channel 10</Name>
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+ <Index>#x7090</Index>
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+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x160a</Index>
+ <Name>Channel 11</Name>
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+ <Index>#x70a0</Index>
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+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x160b</Index>
+ <Name>Channel 12</Name>
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+ <Index>#x70b0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x160c</Index>
+ <Name>Channel 13</Name>
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+ <Index>#x70c0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x160d</Index>
+ <Name>Channel 14</Name>
+ <Entry>
+ <Index>#x70d0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x160e</Index>
+ <Name>Channel 15</Name>
+ <Entry>
+ <Index>#x70e0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x160f</Index>
+ <Name>Channel 16</Name>
+ <Entry>
+ <Index>#x70f0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>040100000000ff00</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x0B383052" RevisionNo="#x0010000A">EL2872-0010</Type>
+ <Name LcId="1033"><![CDATA[EL2872-0010 16Ch. Dig. Output 24V, 0.5A, negative]]></Name>
+ <Name LcId="1031"><![CDATA[EL2872-0010 16K. Dig. Ausgang 24V, 0.5A, negativ]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2872]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2872]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>130</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Fmmu OpOnly="1">Outputs</Fmmu>
+ <Sm DefaultSize="1" StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+ <Sm DefaultSize="1" StartAddress="#x0f01" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1600</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1601</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1602</Index>
+ <Name>Channel 3</Name>
+ <Entry>
+ <Index>#x7020</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1603</Index>
+ <Name>Channel 4</Name>
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+ <Index>#x7030</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1604</Index>
+ <Name>Channel 5</Name>
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+ <Index>#x7040</Index>
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+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1605</Index>
+ <Name>Channel 6</Name>
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+ <Index>#x7050</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
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+ <Index>#x7060</Index>
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+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
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+ <Name>Channel 8</Name>
+ <Entry>
+ <Index>#x7070</Index>
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+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x1608</Index>
+ <Name>Channel 9</Name>
+ <Entry>
+ <Index>#x7080</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x1609</Index>
+ <Name>Channel 10</Name>
+ <Entry>
+ <Index>#x7090</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x160a</Index>
+ <Name>Channel 11</Name>
+ <Entry>
+ <Index>#x70a0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x160b</Index>
+ <Name>Channel 12</Name>
+ <Entry>
+ <Index>#x70b0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x160c</Index>
+ <Name>Channel 13</Name>
+ <Entry>
+ <Index>#x70c0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x160d</Index>
+ <Name>Channel 14</Name>
+ <Entry>
+ <Index>#x70d0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x160e</Index>
+ <Name>Channel 15</Name>
+ <Entry>
+ <Index>#x70e0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x160f</Index>
+ <Name>Channel 16</Name>
+ <Entry>
+ <Index>#x70f0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>040100000000ff00</ConfigData>
+ </Eeprom>
+ </Device>
+ <Device Physics="KK">
+ <Type ProductCode="#x0B493052" RevisionNo="#x00100000">EL2889</Type>
+ <Name LcId="1033"><![CDATA[EL2889 16Ch. Dig. Output 24V, 0.5A, negative]]></Name>
+ <Name LcId="1031"><![CDATA[EL2889 16K. Dig. Ausgang 24V, 0.5A, negativ]]></Name>
+ <URL LcId="1033"><![CDATA[http://www.beckhoff.com/EL2889]]></URL>
+ <URL LcId="1031"><![CDATA[http://www.beckhoff.de/EL2889]]></URL>
+ <Info>
+ <Electrical>
+ <EBusCurrent>140</EBusCurrent>
+ </Electrical>
+ </Info>
+ <GroupType>DigOut</GroupType>
+ <Fmmu OpOnly="1">Outputs</Fmmu>
+ <Sm DefaultSize="1" StartAddress="#x0f00" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+ <Sm DefaultSize="1" StartAddress="#x0f01" ControlByte="#x44" Enable="1" OpOnly="1">Outputs</Sm>
+ <Su FrameRepeatSupport="1"/>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1600</Index>
+ <Name>Channel 1</Name>
+ <Entry>
+ <Index>#x7000</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1601</Index>
+ <Name>Channel 2</Name>
+ <Entry>
+ <Index>#x7010</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1602</Index>
+ <Name>Channel 3</Name>
+ <Entry>
+ <Index>#x7020</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1603</Index>
+ <Name>Channel 4</Name>
+ <Entry>
+ <Index>#x7030</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1604</Index>
+ <Name>Channel 5</Name>
+ <Entry>
+ <Index>#x7040</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1605</Index>
+ <Name>Channel 6</Name>
+ <Entry>
+ <Index>#x7050</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1606</Index>
+ <Name>Channel 7</Name>
+ <Entry>
+ <Index>#x7060</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="0">
+ <Index>#x1607</Index>
+ <Name>Channel 8</Name>
+ <Entry>
+ <Index>#x7070</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x1608</Index>
+ <Name>Channel 9</Name>
+ <Entry>
+ <Index>#x7080</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x1609</Index>
+ <Name>Channel 10</Name>
+ <Entry>
+ <Index>#x7090</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x160a</Index>
+ <Name>Channel 11</Name>
+ <Entry>
+ <Index>#x70a0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x160b</Index>
+ <Name>Channel 12</Name>
+ <Entry>
+ <Index>#x70b0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x160c</Index>
+ <Name>Channel 13</Name>
+ <Entry>
+ <Index>#x70c0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x160d</Index>
+ <Name>Channel 14</Name>
+ <Entry>
+ <Index>#x70d0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x160e</Index>
+ <Name>Channel 15</Name>
+ <Entry>
+ <Index>#x70e0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <RxPdo Fixed="1" Mandatory="1" Sm="1">
+ <Index>#x160f</Index>
+ <Name>Channel 16</Name>
+ <Entry>
+ <Index>#x70f0</Index>
+ <SubIndex>1</SubIndex>
+ <BitLen>1</BitLen>
+ <Name>Output</Name>
+ <DataType>BOOL</DataType>
+ </Entry>
+ </RxPdo>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>040100000000ff00</ConfigData>
+ </Eeprom>
+ </Device>
+ </Devices>
+ </Descriptions>
+</EtherCATInfo>
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ethercat_tests/wago_higen/ethercat@etherlab/modules/Higen_FDA7000_CoE_20111219.xml Sun Apr 01 16:36:41 2012 +0200
@@ -0,0 +1,30424 @@
+<?xml version="1.0" ?>
+<EtherCATInfo xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd" Version="1.2">
+ <Vendor>
+ <Id>#x00000625</Id>
+ <Name>HIGEN Motor Co., Ltd.</Name>
+ <ImageData16x14>424DB6030000000000003600000028000000100000000E000000010020000000000080030000130B0000130B00000000000000000000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFF0000FFFF0000FFFF0000FFFFFFFFFF0000FFFFFFFFFFFFFF0000FFFF0000FFFF0000FF0000FFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFF0000FFFFFFFFFFFF0000FFFFFFFFFF0000FFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFF0000FFFFFFFFFFFF0000FFFF0000FFFF0000FFFF0000FFFFFF0000FFFFFFFFFFFF0000FFFFFFFFFF0000FFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFF0000FFFF0000FFFF0000FFFF0000FFFF0000FFFF0000FFFFFF0000FFFFFFFFFFFF0000FFFFFFFFFF0000FFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFF0000FFFF0000FFFF0000FF0000FFFF0000FFFF0000FFFFFF0000FFFF0000FFFF0000FF0000FFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFF0000FFFF0000FFFF0000FF0000FFFF0000FFFF0000FFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFF0000FFFF0000FFFF0000FF0000FFFFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFF0000FFFF0000FF0000FFFFFF0000FFFFFFFFFFFF0000FF0000FFFF0000FFFF0000FFFFFF0000FFFF0000FFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFFFFFFFFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFF0000FF0000FFFFFF0000FFFFFFFFFFFFFFFFFF0000FFFF0000FFFF0000FFFFFF0000FFFFFFFFFFFFFFFFFFFF0000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF0000FFFF0000FFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFFF</ImageData16x14>
+ </Vendor>
+ <Descriptions>
+ <Groups>
+ <Group SortOrder="520">
+ <Type>Drive</Type>
+ <Name LcId="1033">Drives</Name>
+ <Image16x14>DRIVE</Image16x14>
+ </Group>
+ </Groups>
+ <Devices>
+ <Device Physics="YY">
+ <Type TcCfgModeSafeOp="1" ProductCode="#x69686555" RevisionNo="#x00000001">EDA7001 CoE Drive</Type>
+ <Name LcId="1033"><![CDATA[EDA7001 CoE Servo Drive (0.1KW)]]></Name>
+ <URL LcId="1033">http://www.higenmotor.com/info/infodata03.asp?exec=3</URL>
+ <Info>
+ <StateMachine>
+ <Behavior StartToSafeopNoSync="false"/>
+ </StateMachine>
+ </Info>
+ <GroupType>Drive</GroupType>
+ <Profile>
+ <ProfileNo>402</ProfileNo>
+ <Dictionary>
+ <DataTypes>
+ <DataType>
+ <Name>BOOLEAN</Name>
+ <BitSize>1</BitSize>
+ </DataType>
+ <DataType>
+ <Name>STRING(0)</Name>
+ <BitSize>0</BitSize>
+ </DataType>
+ <DataType>
+ <Name>SINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>USINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>INT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UINT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UDINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DT1018</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ </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>
+ </DataType>
+ <DataType>
+ <Name>DT1600</Name>
+ <BitSize>1008</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>1st mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>2nd mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>3rd mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>80</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>4th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>5th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>144</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>6th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>176</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>7th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>208</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>8th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>240</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>9th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>272</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>10th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>304</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>11th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>336</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>12</SubIdx>
+ <Name>12th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>368</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>13th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>400</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>14th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>432</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>15</SubIdx>
+ <Name>15th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>464</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>16th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>496</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>17th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>528</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>18th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>560</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>19</SubIdx>
+ <Name>19th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>592</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>20</SubIdx>
+ <Name>20th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>624</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>21</SubIdx>
+ <Name>21th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>656</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>22</SubIdx>
+ <Name>22th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>688</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>23</SubIdx>
+ <Name>23th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>720</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>24</SubIdx>
+ <Name>24th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>752</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>25</SubIdx>
+ <Name>25th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>784</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>26</SubIdx>
+ <Name>26th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>816</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>27</SubIdx>
+ <Name>27th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>848</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>28</SubIdx>
+ <Name>28th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>880</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>29</SubIdx>
+ <Name>29th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>912</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>30</SubIdx>
+ <Name>30th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>944</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>31</SubIdx>
+ <Name>31th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>976</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C12</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Assign1</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Assign2</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Assign3</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Assign4</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C32</Name>
+ <BitSize>304</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</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>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>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>
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+ <Index>#x6099</Index>
+ <Name>Homing Speeds</Name>
+ <Type>DT6099</Type>
+ <BitSize>80</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Speed during search for switch</Name>
+ <Info>
+ <DefaultData>55550300</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Speed during search for zero</Name>
+ <Info>
+ <DefaultData>88080000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x609A</Index>
+ <Name>Homing Acceleration</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>ffffffff</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60E0</Index>
+ <Name>Positive Torque Limit</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>E803</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60E1</Index>
+ <Name>Negative Torque Limit</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>E803</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </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>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </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>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60FE</Index>
+ <Name>Digital Outputs</Name>
+ <Type>DT60FE</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>01</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Physical output</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <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>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6502</Index>
+ <Name>Supported Drive Mode</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>80030300</DefaultData>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ </Objects>
+ </Dictionary>
+ </Profile>
+ <Fmmu Sm = "2">Outputs</Fmmu>
+ <Fmmu Sm = "3">Inputs</Fmmu>
+ <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1800" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+ <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1c00" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+ <Sm StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
+ <Sm StartAddress="#x1400" ControlByte="#x20" Enable="1">Inputs</Sm>
+ <Su>Drives</Su>
+ <RxPdo Fixed="1" Sm="2">
+ <Index>#x1600</Index>
+ <Name>Receive PDO mapping</Name>
+ <Entry>
+ <Index>#x6040</Index> <!-- ControlWord -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Controlword</Name>
+ <Comment>object 0x6040:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x607A</Index> <!-- Target Position -->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Target Position</Name>
+ <Comment>object 0x607A:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60FF</Index> <!-- Target Velocity -->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Target Velocity</Name>
+ <Comment>object 0x60FF:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6071</Index> <!-- Target Torque -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Target Torque</Name>
+ <Comment>object 0x6071:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6060</Index> <!-- Mode of Operation -->
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Mode of Operation</Name>
+ <Comment>object 0x6060:0</Comment>
+ <DataType>USINT</DataType>
+ </Entry>
+ </RxPdo>
+ <TxPdo Fixed="1" Sm="3">
+ <Index>#x1A00</Index>
+ <Name>Transmit PDO mapping</Name>
+ <Entry>
+ <Index>#x6041</Index> <!-- Status Word -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Statusword</Name>
+ <Comment>object 0x6041:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6064</Index> <!-- Actual Position -->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Position actual value</Name>
+ <Comment>object 0x6064:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6077</Index> <!-- Actual Toruque -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Torque actual value</Name>
+ <Comment>object 0x6077:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6061</Index> <!-- Mode of Operation Display -->
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Modes of operation display</Name>
+ <Comment>object 0x6061:0</Comment>
+ <DataType>USINT</DataType>
+ </Entry>
+ </TxPdo>
+ <Mailbox>
+ <CoE DS402Channels="1" CompleteAccess="true" PdoUpload="false" PdoAssign="false" PdoConfig="false" SdoInfo="false">
+ </CoE>
+ </Mailbox>
+ <Dc>
+ <OpMode>
+ <Name>DC</Name>
+ <Desc>DC-Synchron</Desc>
+ <AssignActivate>#x700</AssignActivate>
+ <CycleTimeSync0 Factor="0">1000</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="0">50000</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ </OpMode>
+ <OpMode>
+ <Name>Free-run</Name>
+ <Desc>DC unused</Desc>
+ <AssignActivate>#x0000</AssignActivate>
+ </OpMode>
+ </Dc>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>080C0244320000000000</ConfigData>
+ </Eeprom>
+ <Image16x14>DRIVE</Image16x14>
+ </Device>
+
+ <Device Physics="YY">
+ <Type TcCfgModeSafeOp="1" ProductCode="#x69686555" RevisionNo="#x00000002">EDA7002 CoE Drive</Type>
+ <Name LcId="1033"><![CDATA[EDA7002 CoE Servo Drive (0.2KW)]]></Name>
+ <URL LcId="1033">http://www.higenmotor.com/info/infodata03.asp?exec=3</URL>
+ <Info>
+ <StateMachine>
+ <Behavior StartToSafeopNoSync="false"/>
+ </StateMachine>
+ </Info>
+ <GroupType>Drive</GroupType>
+ <Profile>
+ <ProfileNo>402</ProfileNo>
+ <Dictionary>
+ <DataTypes>
+ <DataType>
+ <Name>BOOLEAN</Name>
+ <BitSize>1</BitSize>
+ </DataType>
+ <DataType>
+ <Name>STRING(0)</Name>
+ <BitSize>0</BitSize>
+ </DataType>
+ <DataType>
+ <Name>SINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>USINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>INT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UINT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UDINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DT1018</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ </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>
+ </DataType>
+ <DataType>
+ <Name>DT1600</Name>
+ <BitSize>1008</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>1st mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>2nd mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>3rd mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>80</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>4th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>5th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>144</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>6th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>176</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>7th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>208</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>8th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>240</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>9th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>272</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>10th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>304</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>11th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>336</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>12</SubIdx>
+ <Name>12th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>368</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>13th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>400</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>14th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>432</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>15</SubIdx>
+ <Name>15th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>464</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>16th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>496</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>17th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>528</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>18th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>560</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>19</SubIdx>
+ <Name>19th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>592</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>20</SubIdx>
+ <Name>20th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>624</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>21</SubIdx>
+ <Name>21th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>656</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>22</SubIdx>
+ <Name>22th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>688</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>23</SubIdx>
+ <Name>23th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>720</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>24</SubIdx>
+ <Name>24th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>752</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>25</SubIdx>
+ <Name>25th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>784</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>26</SubIdx>
+ <Name>26th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>816</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>27</SubIdx>
+ <Name>27th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>848</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>28</SubIdx>
+ <Name>28th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>880</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>29</SubIdx>
+ <Name>29th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>912</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>30</SubIdx>
+ <Name>30th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>944</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>31</SubIdx>
+ <Name>31th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>976</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C12</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Assign1</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Assign2</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Assign3</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Assign4</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C32</Name>
+ <BitSize>304</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</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>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>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Shift time</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
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+ <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>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Speed during search for switch</Name>
+ <Info>
+ <DefaultData>55550300</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Speed during search for zero</Name>
+ <Info>
+ <DefaultData>88080000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x609A</Index>
+ <Name>Homing Acceleration</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>ffffffff</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60E0</Index>
+ <Name>Positive Torque Limit</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>E803</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60E1</Index>
+ <Name>Negative Torque Limit</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>E803</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </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>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </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>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60FE</Index>
+ <Name>Digital Outputs</Name>
+ <Type>DT60FE</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>01</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Physical output</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <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>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6502</Index>
+ <Name>Supported Drive Mode</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>80030300</DefaultData>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ </Objects>
+ </Dictionary>
+ </Profile>
+ <Fmmu Sm = "2">Outputs</Fmmu>
+ <Fmmu Sm = "3">Inputs</Fmmu>
+ <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1800" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+ <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1c00" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+ <Sm StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
+ <Sm StartAddress="#x1400" ControlByte="#x20" Enable="1">Inputs</Sm>
+ <Su>Drives</Su>
+ <RxPdo Fixed="1" Sm="2">
+ <Index>#x1600</Index>
+ <Name>Receive PDO mapping</Name>
+ <Entry>
+ <Index>#x6040</Index> <!-- ControlWord -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Controlword</Name>
+ <Comment>object 0x6040:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x607A</Index> <!-- Target Position -->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Target Position</Name>
+ <Comment>object 0x607A:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60FF</Index> <!-- Target Velocity -->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Target Velocity</Name>
+ <Comment>object 0x60FF:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6071</Index> <!-- Target Torque -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Target Torque</Name>
+ <Comment>object 0x6071:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6060</Index> <!-- Mode of Operation -->
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Mode of Operation</Name>
+ <Comment>object 0x6060:0</Comment>
+ <DataType>USINT</DataType>
+ </Entry>
+ </RxPdo>
+ <TxPdo Fixed="1" Sm="3">
+ <Index>#x1A00</Index>
+ <Name>Transmit PDO mapping</Name>
+ <Entry>
+ <Index>#x6041</Index> <!-- Status Word -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Statusword</Name>
+ <Comment>object 0x6041:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6064</Index> <!-- Actual Position -->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Position actual value</Name>
+ <Comment>object 0x6064:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6077</Index> <!-- Actual Toruque -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Torque actual value</Name>
+ <Comment>object 0x6077:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6061</Index> <!-- Mode of Operation Display -->
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Modes of operation display</Name>
+ <Comment>object 0x6061:0</Comment>
+ <DataType>USINT</DataType>
+ </Entry>
+ </TxPdo>
+ <Mailbox>
+ <CoE DS402Channels="1" CompleteAccess="true" PdoUpload="false" PdoAssign="false" PdoConfig="false" SdoInfo="false">
+ </CoE>
+ </Mailbox>
+ <Dc>
+ <OpMode>
+ <Name>DC</Name>
+ <Desc>DC-Synchron</Desc>
+ <AssignActivate>#x700</AssignActivate>
+ <CycleTimeSync0 Factor="0">1000</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="0">50000</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ </OpMode>
+ <OpMode>
+ <Name>Free-run</Name>
+ <Desc>DC unused</Desc>
+ <AssignActivate>#x0000</AssignActivate>
+ </OpMode>
+ </Dc>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>080C0244320000000000</ConfigData>
+ </Eeprom>
+ <Image16x14>DRIVE</Image16x14>
+ </Device>
+
+ <Device Physics="YY">
+ <Type TcCfgModeSafeOp="1" ProductCode="#x69686555" RevisionNo="#x00000004">EDA7004 CoE Drive</Type>
+ <Name LcId="1033"><![CDATA[EDA7004 CoE Servo Drive (0.4KW)]]></Name>
+ <URL LcId="1033">http://www.higenmotor.com/info/infodata03.asp?exec=3</URL>
+ <Info>
+ <StateMachine>
+ <Behavior StartToSafeopNoSync="false"/>
+ </StateMachine>
+ </Info>
+ <GroupType>Drive</GroupType>
+ <Profile>
+ <ProfileNo>402</ProfileNo>
+ <Dictionary>
+ <DataTypes>
+ <DataType>
+ <Name>BOOLEAN</Name>
+ <BitSize>1</BitSize>
+ </DataType>
+ <DataType>
+ <Name>STRING(0)</Name>
+ <BitSize>0</BitSize>
+ </DataType>
+ <DataType>
+ <Name>SINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>USINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>INT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UINT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UDINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DT1018</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ </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>
+ </DataType>
+ <DataType>
+ <Name>DT1600</Name>
+ <BitSize>1008</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>1st mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>2nd mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>3rd mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>80</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>4th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>5th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>144</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>6th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>176</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>7th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>208</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>8th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>240</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>9th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>272</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>10th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>304</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>11th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>336</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>12</SubIdx>
+ <Name>12th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>368</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>13th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>400</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>14th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>432</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>15</SubIdx>
+ <Name>15th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>464</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>16th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>496</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>17th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>528</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>18th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>560</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>19</SubIdx>
+ <Name>19th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>592</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>20</SubIdx>
+ <Name>20th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>624</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>21</SubIdx>
+ <Name>21th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>656</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>22</SubIdx>
+ <Name>22th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>688</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>23</SubIdx>
+ <Name>23th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>720</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>24</SubIdx>
+ <Name>24th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>752</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>25</SubIdx>
+ <Name>25th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>784</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>26</SubIdx>
+ <Name>26th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>816</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>27</SubIdx>
+ <Name>27th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>848</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>28</SubIdx>
+ <Name>28th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>880</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>29</SubIdx>
+ <Name>29th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>912</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>30</SubIdx>
+ <Name>30th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>944</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>31</SubIdx>
+ <Name>31th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>976</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C12</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Assign1</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Assign2</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Assign3</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Assign4</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C32</Name>
+ <BitSize>304</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</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>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>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
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+ <BitOffs>96</BitOffs>
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+ <Access>ro</Access>
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+ <Type>UDINT</Type>
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+ <BitOffs>192</BitOffs>
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+ <Access>rw</Access>
+ <Category>o</Category>
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+ <BitOffs>224</BitOffs>
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+ <Access>ro</Access>
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+ <Access>ro</Access>
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+ <Name>Device type</Name>
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+ <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>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Speed during search for switch</Name>
+ <Info>
+ <DefaultData>55550300</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Speed during search for zero</Name>
+ <Info>
+ <DefaultData>88080000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x609A</Index>
+ <Name>Homing Acceleration</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>ffffffff</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60E0</Index>
+ <Name>Positive Torque Limit</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>E803</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60E1</Index>
+ <Name>Negative Torque Limit</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>E803</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </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>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </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>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60FE</Index>
+ <Name>Digital Outputs</Name>
+ <Type>DT60FE</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>01</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Physical output</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <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>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6502</Index>
+ <Name>Supported Drive Mode</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>80030300</DefaultData>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ </Objects>
+ </Dictionary>
+ </Profile>
+ <Fmmu Sm = "2">Outputs</Fmmu>
+ <Fmmu Sm = "3">Inputs</Fmmu>
+ <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1800" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+ <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1c00" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+ <Sm StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
+ <Sm StartAddress="#x1400" ControlByte="#x20" Enable="1">Inputs</Sm>
+ <Su>Drives</Su>
+ <RxPdo Fixed="1" Sm="2">
+ <Index>#x1600</Index>
+ <Name>Receive PDO mapping</Name>
+ <Entry>
+ <Index>#x6040</Index> <!-- ControlWord -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Controlword</Name>
+ <Comment>object 0x6040:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x607A</Index> <!-- Target Position -->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Target Position</Name>
+ <Comment>object 0x607A:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60FF</Index> <!-- Target Velocity -->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Target Velocity</Name>
+ <Comment>object 0x60FF:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6071</Index> <!-- Target Torque -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Target Torque</Name>
+ <Comment>object 0x6071:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6060</Index> <!-- Mode of Operation -->
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Mode of Operation</Name>
+ <Comment>object 0x6060:0</Comment>
+ <DataType>USINT</DataType>
+ </Entry>
+ </RxPdo>
+ <TxPdo Fixed="1" Sm="3">
+ <Index>#x1A00</Index>
+ <Name>Transmit PDO mapping</Name>
+ <Entry>
+ <Index>#x6041</Index> <!-- Status Word -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Statusword</Name>
+ <Comment>object 0x6041:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6064</Index> <!-- Actual Position -->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Position actual value</Name>
+ <Comment>object 0x6064:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6077</Index> <!-- Actual Toruque -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Torque actual value</Name>
+ <Comment>object 0x6077:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6061</Index> <!-- Mode of Operation Display -->
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Modes of operation display</Name>
+ <Comment>object 0x6061:0</Comment>
+ <DataType>USINT</DataType>
+ </Entry>
+ </TxPdo>
+ <Mailbox>
+ <CoE DS402Channels="1" CompleteAccess="true" PdoUpload="false" PdoAssign="false" PdoConfig="false" SdoInfo="false">
+ </CoE>
+ </Mailbox>
+ <Dc>
+ <OpMode>
+ <Name>DC</Name>
+ <Desc>DC-Synchron</Desc>
+ <AssignActivate>#x700</AssignActivate>
+ <CycleTimeSync0 Factor="0">1000</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="0">50000</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ </OpMode>
+ <OpMode>
+ <Name>Free-run</Name>
+ <Desc>DC unused</Desc>
+ <AssignActivate>#x0000</AssignActivate>
+ </OpMode>
+ </Dc>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>080C0244320000000000</ConfigData>
+ </Eeprom>
+ <Image16x14>DRIVE</Image16x14>
+ </Device>
+
+ <Device Physics="YY">
+ <Type TcCfgModeSafeOp="1" ProductCode="#x69686555" RevisionNo="#x00000005">EDA7005 CoE Drive</Type>
+ <Name LcId="1033"><![CDATA[EDA7005 CoE Servo Drive (0.5KW)]]></Name>
+ <URL LcId="1033">http://www.higenmotor.com/info/infodata03.asp?exec=3</URL>
+ <Info>
+ <StateMachine>
+ <Behavior StartToSafeopNoSync="false"/>
+ </StateMachine>
+ </Info>
+ <GroupType>Drive</GroupType>
+ <Profile>
+ <ProfileNo>402</ProfileNo>
+ <Dictionary>
+ <DataTypes>
+ <DataType>
+ <Name>BOOLEAN</Name>
+ <BitSize>1</BitSize>
+ </DataType>
+ <DataType>
+ <Name>STRING(0)</Name>
+ <BitSize>0</BitSize>
+ </DataType>
+ <DataType>
+ <Name>SINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>USINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>INT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UINT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UDINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DT1018</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ </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>
+ </DataType>
+ <DataType>
+ <Name>DT1600</Name>
+ <BitSize>1008</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>1st mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>2nd mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>3rd mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>80</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>4th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>5th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>144</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>6th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>176</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>7th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>208</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>8th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>240</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>9th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>272</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>10th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>304</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>11th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>336</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>12</SubIdx>
+ <Name>12th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>368</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>13th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>400</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>14th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>432</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>15</SubIdx>
+ <Name>15th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>464</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>16th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>496</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>17th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>528</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>18th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>560</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>19</SubIdx>
+ <Name>19th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>592</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>20</SubIdx>
+ <Name>20th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>624</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>21</SubIdx>
+ <Name>21th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>656</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>22</SubIdx>
+ <Name>22th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>688</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>23</SubIdx>
+ <Name>23th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>720</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>24</SubIdx>
+ <Name>24th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>752</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>25</SubIdx>
+ <Name>25th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>784</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>26</SubIdx>
+ <Name>26th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>816</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>27</SubIdx>
+ <Name>27th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>848</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>28</SubIdx>
+ <Name>28th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>880</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>29</SubIdx>
+ <Name>29th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>912</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>30</SubIdx>
+ <Name>30th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>944</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>31</SubIdx>
+ <Name>31th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>976</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C12</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Assign1</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Assign2</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Assign3</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Assign4</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C32</Name>
+ <BitSize>304</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</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>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Cycle time</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>32</BitOffs>
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+ <PdoMapping>RT</PdoMapping>
+ </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>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Speed during search for switch</Name>
+ <Info>
+ <DefaultData>55550300</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Speed during search for zero</Name>
+ <Info>
+ <DefaultData>88080000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x609A</Index>
+ <Name>Homing Acceleration</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>ffffffff</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60E0</Index>
+ <Name>Positive Torque Limit</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>E803</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60E1</Index>
+ <Name>Negative Torque Limit</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>E803</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </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>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </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>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60FE</Index>
+ <Name>Digital Outputs</Name>
+ <Type>DT60FE</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>01</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Physical output</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <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>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6502</Index>
+ <Name>Supported Drive Mode</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>80030300</DefaultData>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ </Objects>
+ </Dictionary>
+ </Profile>
+ <Fmmu Sm = "2">Outputs</Fmmu>
+ <Fmmu Sm = "3">Inputs</Fmmu>
+ <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1800" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+ <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1c00" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+ <Sm StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
+ <Sm StartAddress="#x1400" ControlByte="#x20" Enable="1">Inputs</Sm>
+ <Su>Drives</Su>
+ <RxPdo Fixed="1" Sm="2">
+ <Index>#x1600</Index>
+ <Name>Receive PDO mapping</Name>
+ <Entry>
+ <Index>#x6040</Index> <!-- ControlWord -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Controlword</Name>
+ <Comment>object 0x6040:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x607A</Index> <!-- Target Position -->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Target Position</Name>
+ <Comment>object 0x607A:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60FF</Index> <!-- Target Velocity -->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Target Velocity</Name>
+ <Comment>object 0x60FF:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6071</Index> <!-- Target Torque -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Target Torque</Name>
+ <Comment>object 0x6071:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6060</Index> <!-- Mode of Operation -->
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Mode of Operation</Name>
+ <Comment>object 0x6060:0</Comment>
+ <DataType>USINT</DataType>
+ </Entry>
+ </RxPdo>
+ <TxPdo Fixed="1" Sm="3">
+ <Index>#x1A00</Index>
+ <Name>Transmit PDO mapping</Name>
+ <Entry>
+ <Index>#x6041</Index> <!-- Status Word -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Statusword</Name>
+ <Comment>object 0x6041:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6064</Index> <!-- Actual Position -->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Position actual value</Name>
+ <Comment>object 0x6064:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6077</Index> <!-- Actual Toruque -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Torque actual value</Name>
+ <Comment>object 0x6077:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6061</Index> <!-- Mode of Operation Display -->
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Modes of operation display</Name>
+ <Comment>object 0x6061:0</Comment>
+ <DataType>USINT</DataType>
+ </Entry>
+ </TxPdo>
+ <Mailbox>
+ <CoE DS402Channels="1" CompleteAccess="true" PdoUpload="false" PdoAssign="false" PdoConfig="false" SdoInfo="false">
+ </CoE>
+ </Mailbox>
+ <Dc>
+ <OpMode>
+ <Name>DC</Name>
+ <Desc>DC-Synchron</Desc>
+ <AssignActivate>#x700</AssignActivate>
+ <CycleTimeSync0 Factor="0">1000</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="0">50000</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ </OpMode>
+ <OpMode>
+ <Name>Free-run</Name>
+ <Desc>DC unused</Desc>
+ <AssignActivate>#x0000</AssignActivate>
+ </OpMode>
+ </Dc>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>080C0244320000000000</ConfigData>
+ </Eeprom>
+ <Image16x14>DRIVE</Image16x14>
+ </Device>
+<Device Physics="YY">
+ <Type TcCfgModeSafeOp="1" ProductCode="#x69686555" RevisionNo="#x0000000A">EDA7010 CoE Drive</Type>
+ <Name LcId="1033"><![CDATA[EDA7010 CoE Servo Drive (1.0KW)]]></Name>
+ <URL LcId="1033">http://www.higenmotor.com/info/infodata03.asp?exec=3</URL>
+ <Info>
+ <StateMachine>
+ <Behavior StartToSafeopNoSync="false"/>
+ </StateMachine>
+ </Info>
+ <GroupType>Drive</GroupType>
+ <Profile>
+ <ProfileNo>402</ProfileNo>
+ <Dictionary>
+ <DataTypes>
+ <DataType>
+ <Name>BOOLEAN</Name>
+ <BitSize>1</BitSize>
+ </DataType>
+ <DataType>
+ <Name>STRING(0)</Name>
+ <BitSize>0</BitSize>
+ </DataType>
+ <DataType>
+ <Name>SINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>USINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>INT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UINT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UDINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DT1018</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ </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>
+ </DataType>
+ <DataType>
+ <Name>DT1600</Name>
+ <BitSize>1008</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>1st mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>2nd mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>3rd mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>80</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>4th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>5th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>144</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>6th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>176</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>7th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>208</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>8th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>240</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>9th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>272</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>10th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>304</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>11th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>336</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>12</SubIdx>
+ <Name>12th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>368</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>13th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>400</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>14th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>432</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>15</SubIdx>
+ <Name>15th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>464</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>16th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>496</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>17th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>528</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>18th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>560</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>19</SubIdx>
+ <Name>19th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>592</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>20</SubIdx>
+ <Name>20th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>624</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>21</SubIdx>
+ <Name>21th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>656</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>22</SubIdx>
+ <Name>22th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>688</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>23</SubIdx>
+ <Name>23th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>720</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>24</SubIdx>
+ <Name>24th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>752</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>25</SubIdx>
+ <Name>25th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>784</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>26</SubIdx>
+ <Name>26th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>816</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>27</SubIdx>
+ <Name>27th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>848</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>28</SubIdx>
+ <Name>28th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>880</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>29</SubIdx>
+ <Name>29th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>912</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>30</SubIdx>
+ <Name>30th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>944</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>31</SubIdx>
+ <Name>31th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>976</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C12</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Assign1</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Assign2</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Assign3</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Assign4</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C32</Name>
+ <BitSize>304</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</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>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Cycle time</Name>
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+ <Flags>
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+ <Category>o</Category>
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+ <Flags>
+ <Access>ro</Access>
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+ <BitOffs>96</BitOffs>
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+ <Access>ro</Access>
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+ <SubIdx>8</SubIdx>
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+ <Type>UDINT</Type>
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+ <Access>rw</Access>
+ <Category>o</Category>
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+ <Access>ro</Access>
+ <Category>o</Category>
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+ <Access>ro</Access>
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+ <Access>ro</Access>
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+ <Name>Device type</Name>
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+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </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>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Speed during search for switch</Name>
+ <Info>
+ <DefaultData>55550300</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Speed during search for zero</Name>
+ <Info>
+ <DefaultData>88080000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x609A</Index>
+ <Name>Homing Acceleration</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>ffffffff</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60E0</Index>
+ <Name>Positive Torque Limit</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>E803</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60E1</Index>
+ <Name>Negative Torque Limit</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>E803</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </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>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </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>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60FE</Index>
+ <Name>Digital Outputs</Name>
+ <Type>DT60FE</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>01</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Physical output</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <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>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6502</Index>
+ <Name>Supported Drive Mode</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>80030300</DefaultData>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ </Objects>
+ </Dictionary>
+ </Profile>
+ <Fmmu Sm = "2">Outputs</Fmmu>
+ <Fmmu Sm = "3">Inputs</Fmmu>
+ <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1800" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+ <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1c00" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+ <Sm StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
+ <Sm StartAddress="#x1400" ControlByte="#x20" Enable="1">Inputs</Sm>
+ <Su>Drives</Su>
+ <RxPdo Fixed="1" Sm="2">
+ <Index>#x1600</Index>
+ <Name>Receive PDO mapping</Name>
+ <Entry>
+ <Index>#x6040</Index> <!-- ControlWord -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Controlword</Name>
+ <Comment>object 0x6040:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x607A</Index> <!-- Target Position -->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Target Position</Name>
+ <Comment>object 0x607A:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60FF</Index> <!-- Target Velocity -->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Target Velocity</Name>
+ <Comment>object 0x60FF:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6071</Index> <!-- Target Torque -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Target Torque</Name>
+ <Comment>object 0x6071:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6060</Index> <!-- Mode of Operation -->
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Mode of Operation</Name>
+ <Comment>object 0x6060:0</Comment>
+ <DataType>USINT</DataType>
+ </Entry>
+ </RxPdo>
+ <TxPdo Fixed="1" Sm="3">
+ <Index>#x1A00</Index>
+ <Name>Transmit PDO mapping</Name>
+ <Entry>
+ <Index>#x6041</Index> <!-- Status Word -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Statusword</Name>
+ <Comment>object 0x6041:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6064</Index> <!-- Actual Position -->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Position actual value</Name>
+ <Comment>object 0x6064:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6077</Index> <!-- Actual Toruque -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Torque actual value</Name>
+ <Comment>object 0x6077:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6061</Index> <!-- Mode of Operation Display -->
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Modes of operation display</Name>
+ <Comment>object 0x6061:0</Comment>
+ <DataType>USINT</DataType>
+ </Entry>
+ </TxPdo>
+ <Mailbox>
+ <CoE DS402Channels="1" CompleteAccess="true" PdoUpload="false" PdoAssign="false" PdoConfig="false" SdoInfo="false">
+ </CoE>
+ </Mailbox>
+ <Dc>
+ <OpMode>
+ <Name>DC</Name>
+ <Desc>DC-Synchron</Desc>
+ <AssignActivate>#x700</AssignActivate>
+ <CycleTimeSync0 Factor="0">1000</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="0">50000</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ </OpMode>
+ <OpMode>
+ <Name>Free-run</Name>
+ <Desc>DC unused</Desc>
+ <AssignActivate>#x0000</AssignActivate>
+ </OpMode>
+ </Dc>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>080C0244320000000000</ConfigData>
+ </Eeprom>
+ <Image16x14>DRIVE</Image16x14>
+ </Device>
+
+ <Device Physics="YY">
+ <Type TcCfgModeSafeOp="1" ProductCode="#x69686555" RevisionNo="#x0000000F">EDA7015 CoE Drive</Type>
+ <Name LcId="1033"><![CDATA[EDA7015 CoE Servo Drive (1.5KW)]]></Name>
+ <URL LcId="1033">http://www.higenmotor.com/info/infodata03.asp?exec=3</URL>
+ <Info>
+ <StateMachine>
+ <Behavior StartToSafeopNoSync="false"/>
+ </StateMachine>
+ </Info>
+ <GroupType>Drive</GroupType>
+ <Profile>
+ <ProfileNo>402</ProfileNo>
+ <Dictionary>
+ <DataTypes>
+ <DataType>
+ <Name>BOOLEAN</Name>
+ <BitSize>1</BitSize>
+ </DataType>
+ <DataType>
+ <Name>STRING(0)</Name>
+ <BitSize>0</BitSize>
+ </DataType>
+ <DataType>
+ <Name>SINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>USINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>INT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UINT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UDINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DT1018</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ </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>
+ </DataType>
+ <DataType>
+ <Name>DT1600</Name>
+ <BitSize>1008</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>1st mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>2nd mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>3rd mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>80</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>4th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>5th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>144</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>6th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>176</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>7th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>208</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>8th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>240</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>9th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>272</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>10th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>304</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>11th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>336</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>12</SubIdx>
+ <Name>12th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>368</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>13th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>400</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>14th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>432</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>15</SubIdx>
+ <Name>15th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>464</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>16th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>496</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>17th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>528</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>18th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>560</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>19</SubIdx>
+ <Name>19th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>592</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>20</SubIdx>
+ <Name>20th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>624</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>21</SubIdx>
+ <Name>21th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>656</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>22</SubIdx>
+ <Name>22th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>688</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>23</SubIdx>
+ <Name>23th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>720</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>24</SubIdx>
+ <Name>24th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>752</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>25</SubIdx>
+ <Name>25th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>784</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>26</SubIdx>
+ <Name>26th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>816</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>27</SubIdx>
+ <Name>27th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>848</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>28</SubIdx>
+ <Name>28th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>880</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>29</SubIdx>
+ <Name>29th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>912</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>30</SubIdx>
+ <Name>30th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>944</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>31</SubIdx>
+ <Name>31th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>976</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C12</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Assign1</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Assign2</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Assign3</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Assign4</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C32</Name>
+ <BitSize>304</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</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>rw</Access>
+ <Category>o</Category>
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+ <Name>Profile Deceleration</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>ffffffff</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </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>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Speed during search for switch</Name>
+ <Info>
+ <DefaultData>55550300</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Speed during search for zero</Name>
+ <Info>
+ <DefaultData>88080000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x609A</Index>
+ <Name>Homing Acceleration</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>ffffffff</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60E0</Index>
+ <Name>Positive Torque Limit</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>E803</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60E1</Index>
+ <Name>Negative Torque Limit</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>E803</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </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>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </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>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60FE</Index>
+ <Name>Digital Outputs</Name>
+ <Type>DT60FE</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>01</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Physical output</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <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>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6502</Index>
+ <Name>Supported Drive Mode</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>80030300</DefaultData>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ </Objects>
+ </Dictionary>
+ </Profile>
+ <Fmmu Sm = "2">Outputs</Fmmu>
+ <Fmmu Sm = "3">Inputs</Fmmu>
+ <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1800" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+ <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1c00" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+ <Sm StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
+ <Sm StartAddress="#x1400" ControlByte="#x20" Enable="1">Inputs</Sm>
+ <Su>Drives</Su>
+ <RxPdo Fixed="1" Sm="2">
+ <Index>#x1600</Index>
+ <Name>Receive PDO mapping</Name>
+ <Entry>
+ <Index>#x6040</Index> <!-- ControlWord -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Controlword</Name>
+ <Comment>object 0x6040:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x607A</Index> <!-- Target Position -->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Target Position</Name>
+ <Comment>object 0x607A:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60FF</Index> <!-- Target Velocity -->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Target Velocity</Name>
+ <Comment>object 0x60FF:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6071</Index> <!-- Target Torque -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Target Torque</Name>
+ <Comment>object 0x6071:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6060</Index> <!-- Mode of Operation -->
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Mode of Operation</Name>
+ <Comment>object 0x6060:0</Comment>
+ <DataType>USINT</DataType>
+ </Entry>
+ </RxPdo>
+ <TxPdo Fixed="1" Sm="3">
+ <Index>#x1A00</Index>
+ <Name>Transmit PDO mapping</Name>
+ <Entry>
+ <Index>#x6041</Index> <!-- Status Word -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Statusword</Name>
+ <Comment>object 0x6041:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6064</Index> <!-- Actual Position -->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Position actual value</Name>
+ <Comment>object 0x6064:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6077</Index> <!-- Actual Toruque -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Torque actual value</Name>
+ <Comment>object 0x6077:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6061</Index> <!-- Mode of Operation Display -->
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Modes of operation display</Name>
+ <Comment>object 0x6061:0</Comment>
+ <DataType>USINT</DataType>
+ </Entry>
+ </TxPdo>
+ <Mailbox>
+ <CoE DS402Channels="1" CompleteAccess="true" PdoUpload="false" PdoAssign="false" PdoConfig="false" SdoInfo="false">
+ </CoE>
+ </Mailbox>
+ <Dc>
+ <OpMode>
+ <Name>DC</Name>
+ <Desc>DC-Synchron</Desc>
+ <AssignActivate>#x700</AssignActivate>
+ <CycleTimeSync0 Factor="0">1000</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="0">50000</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ </OpMode>
+ <OpMode>
+ <Name>Free-run</Name>
+ <Desc>DC unused</Desc>
+ <AssignActivate>#x0000</AssignActivate>
+ </OpMode>
+ </Dc>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>080C0244320000000000</ConfigData>
+ </Eeprom>
+ <Image16x14>DRIVE</Image16x14>
+ </Device>
+
+ <Device Physics="YY">
+ <Type TcCfgModeSafeOp="1" ProductCode="#x69686555" RevisionNo="#x00000014">EDA7020 CoE Drive</Type>
+ <Name LcId="1033"><![CDATA[EDA7020 CoE Servo Drive (2.0KW)]]></Name>
+ <URL LcId="1033">http://www.higenmotor.com/info/infodata03.asp?exec=3</URL>
+ <Info>
+ <StateMachine>
+ <Behavior StartToSafeopNoSync="false"/>
+ </StateMachine>
+ </Info>
+ <GroupType>Drive</GroupType>
+ <Profile>
+ <ProfileNo>402</ProfileNo>
+ <Dictionary>
+ <DataTypes>
+ <DataType>
+ <Name>BOOLEAN</Name>
+ <BitSize>1</BitSize>
+ </DataType>
+ <DataType>
+ <Name>STRING(0)</Name>
+ <BitSize>0</BitSize>
+ </DataType>
+ <DataType>
+ <Name>SINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>USINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>INT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UINT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UDINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DT1018</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ </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>
+ </DataType>
+ <DataType>
+ <Name>DT1600</Name>
+ <BitSize>1008</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>1st mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>2nd mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>3rd mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>80</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>4th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>5th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>144</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>6th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>176</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>7th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>208</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>8th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>240</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>9th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>272</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>10th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>304</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>11th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>336</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>12</SubIdx>
+ <Name>12th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>368</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>13th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>400</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>14th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>432</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>15</SubIdx>
+ <Name>15th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>464</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>16th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>496</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>17th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>528</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>18th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>560</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>19</SubIdx>
+ <Name>19th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>592</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>20</SubIdx>
+ <Name>20th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>624</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>21</SubIdx>
+ <Name>21th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>656</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>22</SubIdx>
+ <Name>22th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>688</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>23</SubIdx>
+ <Name>23th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>720</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>24</SubIdx>
+ <Name>24th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>752</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>25</SubIdx>
+ <Name>25th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>784</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>26</SubIdx>
+ <Name>26th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>816</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>27</SubIdx>
+ <Name>27th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>848</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>28</SubIdx>
+ <Name>28th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>880</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>29</SubIdx>
+ <Name>29th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>912</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>30</SubIdx>
+ <Name>30th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>944</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>31</SubIdx>
+ <Name>31th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>976</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C12</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Assign1</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Assign2</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Assign3</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Assign4</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C32</Name>
+ <BitSize>304</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</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>
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+ <SubIdx>2</SubIdx>
+ <Name>Cycle time</Name>
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+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
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+ <SubIdx>3</SubIdx>
+ <Name>Shift time</Name>
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+ <Access>ro</Access>
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+ <Name>Calc and copy time</Name>
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+ <Access>ro</Access>
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+ <SubIdx>8</SubIdx>
+ <Name>Get cycle time</Name>
+ <Type>UDINT</Type>
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+ <BitOffs>192</BitOffs>
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+ <Access>rw</Access>
+ <Category>o</Category>
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+ <Name>Delay time</Name>
+ <Type>UDINT</Type>
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+ <BitOffs>224</BitOffs>
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+ <Access>ro</Access>
+ <Category>o</Category>
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+ <Access>ro</Access>
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+ <Access>ro</Access>
+ <Category>o</Category>
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+ <Name>largest sub-index supported</Name>
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+ <Category>o</Category>
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+ <Name>Device type</Name>
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+ <Info>
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+ <Access>ro</Access>
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+ <Name>Manufacturer Software Version</Name>
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+ <Name>largest sub-index supported</Name>
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+ <DefaultData>02</DefaultData> <!-- 4 -> 2 -->
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+ <Name>Vendor ID</Name>
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+ <Name>Product code</Name>
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+ <Name>Pulse Out Rate (P01-14)</Name>
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+ <Category>o</Category>
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+ <Name>Torque Filter Time Constant (x0.1ms) (P02-16)</Name>
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+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6084</Index>
+ <Name>Profile Deceleration</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>ffffffff</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </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>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Speed during search for switch</Name>
+ <Info>
+ <DefaultData>55550300</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Speed during search for zero</Name>
+ <Info>
+ <DefaultData>88080000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x609A</Index>
+ <Name>Homing Acceleration</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>ffffffff</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60E0</Index>
+ <Name>Positive Torque Limit</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>E803</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60E1</Index>
+ <Name>Negative Torque Limit</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>E803</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </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>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </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>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60FE</Index>
+ <Name>Digital Outputs</Name>
+ <Type>DT60FE</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>01</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Physical output</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <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>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6502</Index>
+ <Name>Supported Drive Mode</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>80030300</DefaultData>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ </Objects>
+ </Dictionary>
+ </Profile>
+ <Fmmu Sm = "2">Outputs</Fmmu>
+ <Fmmu Sm = "3">Inputs</Fmmu>
+ <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1800" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+ <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1c00" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+ <Sm StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
+ <Sm StartAddress="#x1400" ControlByte="#x20" Enable="1">Inputs</Sm>
+ <Su>Drives</Su>
+ <RxPdo Fixed="1" Sm="2">
+ <Index>#x1600</Index>
+ <Name>Receive PDO mapping</Name>
+ <Entry>
+ <Index>#x6040</Index> <!-- ControlWord -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Controlword</Name>
+ <Comment>object 0x6040:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x607A</Index> <!-- Target Position -->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Target Position</Name>
+ <Comment>object 0x607A:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60FF</Index> <!-- Target Velocity -->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Target Velocity</Name>
+ <Comment>object 0x60FF:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6071</Index> <!-- Target Torque -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Target Torque</Name>
+ <Comment>object 0x6071:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6060</Index> <!-- Mode of Operation -->
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Mode of Operation</Name>
+ <Comment>object 0x6060:0</Comment>
+ <DataType>USINT</DataType>
+ </Entry>
+ </RxPdo>
+ <TxPdo Fixed="1" Sm="3">
+ <Index>#x1A00</Index>
+ <Name>Transmit PDO mapping</Name>
+ <Entry>
+ <Index>#x6041</Index> <!-- Status Word -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Statusword</Name>
+ <Comment>object 0x6041:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6064</Index> <!-- Actual Position -->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Position actual value</Name>
+ <Comment>object 0x6064:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6077</Index> <!-- Actual Toruque -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Torque actual value</Name>
+ <Comment>object 0x6077:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6061</Index> <!-- Mode of Operation Display -->
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Modes of operation display</Name>
+ <Comment>object 0x6061:0</Comment>
+ <DataType>USINT</DataType>
+ </Entry>
+ </TxPdo>
+ <Mailbox>
+ <CoE DS402Channels="1" CompleteAccess="true" PdoUpload="false" PdoAssign="false" PdoConfig="false" SdoInfo="false">
+ </CoE>
+ </Mailbox>
+ <Dc>
+ <OpMode>
+ <Name>DC</Name>
+ <Desc>DC-Synchron</Desc>
+ <AssignActivate>#x700</AssignActivate>
+ <CycleTimeSync0 Factor="0">1000</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="0">50000</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ </OpMode>
+ <OpMode>
+ <Name>Free-run</Name>
+ <Desc>DC unused</Desc>
+ <AssignActivate>#x0000</AssignActivate>
+ </OpMode>
+ </Dc>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>080C0244320000000000</ConfigData>
+ </Eeprom>
+ <Image16x14>DRIVE</Image16x14>
+ </Device>
+
+ <Device Physics="YY">
+ <Type TcCfgModeSafeOp="1" ProductCode="#x69686555" RevisionNo="#x0000001E">EDA7030 CoE Drive</Type>
+ <Name LcId="1033"><![CDATA[EDA7030 CoE Servo Drive (3.0KW)]]></Name>
+ <URL LcId="1033">http://www.higenmotor.com/info/infodata03.asp?exec=3</URL>
+ <Info>
+ <StateMachine>
+ <Behavior StartToSafeopNoSync="false"/>
+ </StateMachine>
+ </Info>
+ <GroupType>Drive</GroupType>
+ <Profile>
+ <ProfileNo>402</ProfileNo>
+ <Dictionary>
+ <DataTypes>
+ <DataType>
+ <Name>BOOLEAN</Name>
+ <BitSize>1</BitSize>
+ </DataType>
+ <DataType>
+ <Name>STRING(0)</Name>
+ <BitSize>0</BitSize>
+ </DataType>
+ <DataType>
+ <Name>SINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>USINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>INT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UINT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UDINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DT1018</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ </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>
+ </DataType>
+ <DataType>
+ <Name>DT1600</Name>
+ <BitSize>1008</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>1st mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>2nd mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>3rd mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>80</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>4th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>5th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>144</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>6th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>176</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>7th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>208</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>8th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>240</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>9th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>272</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>10th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>304</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>11th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>336</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>12</SubIdx>
+ <Name>12th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>368</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>13th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>400</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>14th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>432</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>15</SubIdx>
+ <Name>15th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>464</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>16th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>496</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>17th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>528</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>18th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>560</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>19</SubIdx>
+ <Name>19th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>592</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>20</SubIdx>
+ <Name>20th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>624</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>21</SubIdx>
+ <Name>21th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>656</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>22</SubIdx>
+ <Name>22th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>688</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>23</SubIdx>
+ <Name>23th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>720</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>24</SubIdx>
+ <Name>24th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>752</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>25</SubIdx>
+ <Name>25th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>784</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>26</SubIdx>
+ <Name>26th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>816</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>27</SubIdx>
+ <Name>27th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>848</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>28</SubIdx>
+ <Name>28th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>880</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>29</SubIdx>
+ <Name>29th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>912</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>30</SubIdx>
+ <Name>30th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>944</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>31</SubIdx>
+ <Name>31th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>976</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C12</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Assign1</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Assign2</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Assign3</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Assign4</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C32</Name>
+ <BitSize>304</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>ro</Access>
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+ <Name>Device type</Name>
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+ <Info>
+ <DefaultData>FFFFFFFF</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6084</Index>
+ <Name>Profile Deceleration</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>ffffffff</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </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>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Speed during search for switch</Name>
+ <Info>
+ <DefaultData>55550300</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Speed during search for zero</Name>
+ <Info>
+ <DefaultData>88080000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x609A</Index>
+ <Name>Homing Acceleration</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>ffffffff</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60E0</Index>
+ <Name>Positive Torque Limit</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>E803</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60E1</Index>
+ <Name>Negative Torque Limit</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>E803</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </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>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </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>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60FE</Index>
+ <Name>Digital Outputs</Name>
+ <Type>DT60FE</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>01</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Physical output</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <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>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6502</Index>
+ <Name>Supported Drive Mode</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>80030300</DefaultData>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ </Objects>
+ </Dictionary>
+ </Profile>
+ <Fmmu Sm = "2">Outputs</Fmmu>
+ <Fmmu Sm = "3">Inputs</Fmmu>
+ <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1800" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+ <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1c00" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+ <Sm StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
+ <Sm StartAddress="#x1400" ControlByte="#x20" Enable="1">Inputs</Sm>
+ <Su>Drives</Su>
+ <RxPdo Fixed="1" Sm="2">
+ <Index>#x1600</Index>
+ <Name>Receive PDO mapping</Name>
+ <Entry>
+ <Index>#x6040</Index> <!-- ControlWord -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Controlword</Name>
+ <Comment>object 0x6040:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x607A</Index> <!-- Target Position -->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Target Position</Name>
+ <Comment>object 0x607A:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60FF</Index> <!-- Target Velocity -->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Target Velocity</Name>
+ <Comment>object 0x60FF:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6071</Index> <!-- Target Torque -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Target Torque</Name>
+ <Comment>object 0x6071:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6060</Index> <!-- Mode of Operation -->
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Mode of Operation</Name>
+ <Comment>object 0x6060:0</Comment>
+ <DataType>USINT</DataType>
+ </Entry>
+ </RxPdo>
+ <TxPdo Fixed="1" Sm="3">
+ <Index>#x1A00</Index>
+ <Name>Transmit PDO mapping</Name>
+ <Entry>
+ <Index>#x6041</Index> <!-- Status Word -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Statusword</Name>
+ <Comment>object 0x6041:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6064</Index> <!-- Actual Position -->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Position actual value</Name>
+ <Comment>object 0x6064:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6077</Index> <!-- Actual Toruque -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Torque actual value</Name>
+ <Comment>object 0x6077:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6061</Index> <!-- Mode of Operation Display -->
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Modes of operation display</Name>
+ <Comment>object 0x6061:0</Comment>
+ <DataType>USINT</DataType>
+ </Entry>
+ </TxPdo>
+ <Mailbox>
+ <CoE DS402Channels="1" CompleteAccess="true" PdoUpload="false" PdoAssign="false" PdoConfig="false" SdoInfo="false">
+ </CoE>
+ </Mailbox>
+ <Dc>
+ <OpMode>
+ <Name>DC</Name>
+ <Desc>DC-Synchron</Desc>
+ <AssignActivate>#x700</AssignActivate>
+ <CycleTimeSync0 Factor="0">1000</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="0">50000</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ </OpMode>
+ <OpMode>
+ <Name>Free-run</Name>
+ <Desc>DC unused</Desc>
+ <AssignActivate>#x0000</AssignActivate>
+ </OpMode>
+ </Dc>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>080C0244320000000000</ConfigData>
+ </Eeprom>
+ <Image16x14>DRIVE</Image16x14>
+ </Device>
+ <Device Physics="YY">
+ <Type TcCfgModeSafeOp="1" ProductCode="#x69686555" RevisionNo="#x0000002D">EDA7045 CoE Drive</Type>
+ <Name LcId="1033"><![CDATA[EDA7045 CoE Servo Drive (4.5KW)]]></Name>
+ <URL LcId="1033">http://www.higenmotor.com/info/infodata03.asp?exec=3</URL>
+ <Info>
+ <StateMachine>
+ <Behavior StartToSafeopNoSync="false"/>
+ </StateMachine>
+ </Info>
+ <GroupType>Drive</GroupType>
+ <Profile>
+ <ProfileNo>402</ProfileNo>
+ <Dictionary>
+ <DataTypes>
+ <DataType>
+ <Name>BOOLEAN</Name>
+ <BitSize>1</BitSize>
+ </DataType>
+ <DataType>
+ <Name>STRING(0)</Name>
+ <BitSize>0</BitSize>
+ </DataType>
+ <DataType>
+ <Name>SINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>USINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>INT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UINT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UDINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DT1018</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ </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>
+ </DataType>
+ <DataType>
+ <Name>DT1600</Name>
+ <BitSize>1008</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>1st mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>2nd mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>3rd mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>80</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>4th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>5th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>144</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>6th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>176</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>7th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>208</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>8th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>240</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>9th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>272</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>10th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>304</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>11th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>336</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>12</SubIdx>
+ <Name>12th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>368</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>13th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>400</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>14th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>432</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>15</SubIdx>
+ <Name>15th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>464</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>16th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>496</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>17th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>528</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>18th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>560</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>19</SubIdx>
+ <Name>19th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>592</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>20</SubIdx>
+ <Name>20th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>624</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>21</SubIdx>
+ <Name>21th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>656</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>22</SubIdx>
+ <Name>22th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>688</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>23</SubIdx>
+ <Name>23th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>720</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>24</SubIdx>
+ <Name>24th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>752</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>25</SubIdx>
+ <Name>25th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>784</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>26</SubIdx>
+ <Name>26th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>816</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>27</SubIdx>
+ <Name>27th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>848</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>28</SubIdx>
+ <Name>28th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>880</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>29</SubIdx>
+ <Name>29th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>912</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>30</SubIdx>
+ <Name>30th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>944</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>31</SubIdx>
+ <Name>31th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>976</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C12</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Assign1</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Assign2</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Assign3</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Assign4</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C32</Name>
+ <BitSize>304</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
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+ <Name>Device type</Name>
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+ <Name>Manufacturer Software Version</Name>
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+ <DefaultData>02</DefaultData> <!-- 4 -> 2 -->
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+ <Name>Torque Filter Time Constant (x0.1ms) (P02-16)</Name>
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+ <Object>
+ <Index>#x6083</Index>
+ <Name>Profile Acceleration</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>FFFFFFFF</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6084</Index>
+ <Name>Profile Deceleration</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>ffffffff</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </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>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Speed during search for switch</Name>
+ <Info>
+ <DefaultData>55550300</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Speed during search for zero</Name>
+ <Info>
+ <DefaultData>88080000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x609A</Index>
+ <Name>Homing Acceleration</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>ffffffff</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60E0</Index>
+ <Name>Positive Torque Limit</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>E803</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60E1</Index>
+ <Name>Negative Torque Limit</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>E803</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </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>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </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>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60FE</Index>
+ <Name>Digital Outputs</Name>
+ <Type>DT60FE</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>01</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Physical output</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <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>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6502</Index>
+ <Name>Supported Drive Mode</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>80030300</DefaultData>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ </Objects>
+ </Dictionary>
+ </Profile>
+ <Fmmu Sm = "2">Outputs</Fmmu>
+ <Fmmu Sm = "3">Inputs</Fmmu>
+ <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1800" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+ <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1c00" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+ <Sm StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
+ <Sm StartAddress="#x1400" ControlByte="#x20" Enable="1">Inputs</Sm>
+ <Su>Drives</Su>
+ <RxPdo Fixed="1" Sm="2">
+ <Index>#x1600</Index>
+ <Name>Receive PDO mapping</Name>
+ <Entry>
+ <Index>#x6040</Index> <!-- ControlWord -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Controlword</Name>
+ <Comment>object 0x6040:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x607A</Index> <!-- Target Position -->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Target Position</Name>
+ <Comment>object 0x607A:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60FF</Index> <!-- Target Velocity -->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Target Velocity</Name>
+ <Comment>object 0x60FF:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6071</Index> <!-- Target Torque -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Target Torque</Name>
+ <Comment>object 0x6071:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6060</Index> <!-- Mode of Operation -->
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Mode of Operation</Name>
+ <Comment>object 0x6060:0</Comment>
+ <DataType>USINT</DataType>
+ </Entry>
+ </RxPdo>
+ <TxPdo Fixed="1" Sm="3">
+ <Index>#x1A00</Index>
+ <Name>Transmit PDO mapping</Name>
+ <Entry>
+ <Index>#x6041</Index> <!-- Status Word -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Statusword</Name>
+ <Comment>object 0x6041:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6064</Index> <!-- Actual Position -->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Position actual value</Name>
+ <Comment>object 0x6064:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6077</Index> <!-- Actual Toruque -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Torque actual value</Name>
+ <Comment>object 0x6077:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6061</Index> <!-- Mode of Operation Display -->
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Modes of operation display</Name>
+ <Comment>object 0x6061:0</Comment>
+ <DataType>USINT</DataType>
+ </Entry>
+ </TxPdo>
+ <Mailbox>
+ <CoE DS402Channels="1" CompleteAccess="true" PdoUpload="false" PdoAssign="false" PdoConfig="false" SdoInfo="false">
+ </CoE>
+ </Mailbox>
+ <Dc>
+ <OpMode>
+ <Name>DC</Name>
+ <Desc>DC-Synchron</Desc>
+ <AssignActivate>#x700</AssignActivate>
+ <CycleTimeSync0 Factor="0">1000</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="0">50000</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ </OpMode>
+ <OpMode>
+ <Name>Free-run</Name>
+ <Desc>DC unused</Desc>
+ <AssignActivate>#x0000</AssignActivate>
+ </OpMode>
+ </Dc>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>080C0244320000000000</ConfigData>
+ </Eeprom>
+ <Image16x14>DRIVE</Image16x14>
+ </Device>
+
+ <Device Physics="YY">
+ <Type TcCfgModeSafeOp="1" ProductCode="#x69686555" RevisionNo="#x0000004B">EDA7075 CoE Drive</Type>
+ <Name LcId="1033"><![CDATA[EDA7075 CoE Servo Drive (7.5KW)]]></Name>
+ <URL LcId="1033">http://www.higenmotor.com/info/infodata03.asp?exec=3</URL>
+ <Info>
+ <StateMachine>
+ <Behavior StartToSafeopNoSync="false"/>
+ </StateMachine>
+ </Info>
+ <GroupType>Drive</GroupType>
+ <Profile>
+ <ProfileNo>402</ProfileNo>
+ <Dictionary>
+ <DataTypes>
+ <DataType>
+ <Name>BOOLEAN</Name>
+ <BitSize>1</BitSize>
+ </DataType>
+ <DataType>
+ <Name>STRING(0)</Name>
+ <BitSize>0</BitSize>
+ </DataType>
+ <DataType>
+ <Name>SINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>USINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>INT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UINT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UDINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DT1018</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ </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>
+ </DataType>
+ <DataType>
+ <Name>DT1600</Name>
+ <BitSize>1008</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>1st mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>2nd mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>3rd mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>80</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>4th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>5th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>144</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>6th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>176</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>7th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>208</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>8th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>240</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>9th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>272</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>10th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>304</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>11th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>336</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>12</SubIdx>
+ <Name>12th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>368</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>13th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>400</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>14th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>432</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>15</SubIdx>
+ <Name>15th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>464</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>16th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>496</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>17th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>528</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>18th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>560</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>19</SubIdx>
+ <Name>19th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>592</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>20</SubIdx>
+ <Name>20th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>624</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>21</SubIdx>
+ <Name>21th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>656</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>22</SubIdx>
+ <Name>22th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>688</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>23</SubIdx>
+ <Name>23th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>720</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>24</SubIdx>
+ <Name>24th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>752</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>25</SubIdx>
+ <Name>25th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>784</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>26</SubIdx>
+ <Name>26th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>816</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>27</SubIdx>
+ <Name>27th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>848</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>28</SubIdx>
+ <Name>28th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>880</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>29</SubIdx>
+ <Name>29th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>912</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>30</SubIdx>
+ <Name>30th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>944</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>31</SubIdx>
+ <Name>31th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>976</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C12</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Assign1</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Assign2</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Assign3</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Assign4</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C32</Name>
+ <BitSize>304</BitSize>
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+ <Name>Torque Filter Time Constant (x0.1ms) (P02-16)</Name>
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+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6083</Index>
+ <Name>Profile Acceleration</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>FFFFFFFF</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6084</Index>
+ <Name>Profile Deceleration</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>ffffffff</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </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>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Speed during search for switch</Name>
+ <Info>
+ <DefaultData>55550300</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Speed during search for zero</Name>
+ <Info>
+ <DefaultData>88080000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x609A</Index>
+ <Name>Homing Acceleration</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>ffffffff</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60E0</Index>
+ <Name>Positive Torque Limit</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>E803</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60E1</Index>
+ <Name>Negative Torque Limit</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>E803</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </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>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </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>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60FE</Index>
+ <Name>Digital Outputs</Name>
+ <Type>DT60FE</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>01</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Physical output</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <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>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6502</Index>
+ <Name>Supported Drive Mode</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>80030300</DefaultData>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ </Objects>
+ </Dictionary>
+ </Profile>
+ <Fmmu Sm = "2">Outputs</Fmmu>
+ <Fmmu Sm = "3">Inputs</Fmmu>
+ <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1800" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+ <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1c00" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+ <Sm StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
+ <Sm StartAddress="#x1400" ControlByte="#x20" Enable="1">Inputs</Sm>
+ <Su>Drives</Su>
+ <RxPdo Fixed="1" Sm="2">
+ <Index>#x1600</Index>
+ <Name>Receive PDO mapping</Name>
+ <Entry>
+ <Index>#x6040</Index> <!-- ControlWord -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Controlword</Name>
+ <Comment>object 0x6040:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x607A</Index> <!-- Target Position -->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Target Position</Name>
+ <Comment>object 0x607A:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60FF</Index> <!-- Target Velocity -->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Target Velocity</Name>
+ <Comment>object 0x60FF:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6071</Index> <!-- Target Torque -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Target Torque</Name>
+ <Comment>object 0x6071:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6060</Index> <!-- Mode of Operation -->
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Mode of Operation</Name>
+ <Comment>object 0x6060:0</Comment>
+ <DataType>USINT</DataType>
+ </Entry>
+ </RxPdo>
+ <TxPdo Fixed="1" Sm="3">
+ <Index>#x1A00</Index>
+ <Name>Transmit PDO mapping</Name>
+ <Entry>
+ <Index>#x6041</Index> <!-- Status Word -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Statusword</Name>
+ <Comment>object 0x6041:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6064</Index> <!-- Actual Position -->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Position actual value</Name>
+ <Comment>object 0x6064:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6077</Index> <!-- Actual Toruque -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Torque actual value</Name>
+ <Comment>object 0x6077:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6061</Index> <!-- Mode of Operation Display -->
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Modes of operation display</Name>
+ <Comment>object 0x6061:0</Comment>
+ <DataType>USINT</DataType>
+ </Entry>
+ </TxPdo>
+ <Mailbox>
+ <CoE DS402Channels="1" CompleteAccess="true" PdoUpload="false" PdoAssign="false" PdoConfig="false" SdoInfo="false">
+ </CoE>
+ </Mailbox>
+ <Dc>
+ <OpMode>
+ <Name>DC</Name>
+ <Desc>DC-Synchron</Desc>
+ <AssignActivate>#x700</AssignActivate>
+ <CycleTimeSync0 Factor="0">1000</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="0">50000</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ </OpMode>
+ <OpMode>
+ <Name>Free-run</Name>
+ <Desc>DC unused</Desc>
+ <AssignActivate>#x0000</AssignActivate>
+ </OpMode>
+ </Dc>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>080C0244320000000000</ConfigData>
+ </Eeprom>
+ <Image16x14>DRIVE</Image16x14>
+ </Device>
+
+ <Device Physics="YY">
+ <Type TcCfgModeSafeOp="1" ProductCode="#x69686555" RevisionNo="#x0000006E">EDA7110 CoE Drive</Type>
+ <Name LcId="1033"><![CDATA[EDA7110 CoE Servo Drive (11.0KW)]]></Name>
+ <URL LcId="1033">http://www.higenmotor.com/info/infodata03.asp?exec=3</URL>
+ <Info>
+ <StateMachine>
+ <Behavior StartToSafeopNoSync="false"/>
+ </StateMachine>
+ </Info>
+ <GroupType>Drive</GroupType>
+ <Profile>
+ <ProfileNo>402</ProfileNo>
+ <Dictionary>
+ <DataTypes>
+ <DataType>
+ <Name>BOOLEAN</Name>
+ <BitSize>1</BitSize>
+ </DataType>
+ <DataType>
+ <Name>STRING(0)</Name>
+ <BitSize>0</BitSize>
+ </DataType>
+ <DataType>
+ <Name>SINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>USINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>INT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UINT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UDINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DT1018</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ </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>
+ </DataType>
+ <DataType>
+ <Name>DT1600</Name>
+ <BitSize>1008</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>1st mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>2nd mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>3rd mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>80</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>4th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>5th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>144</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>6th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>176</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>7th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>208</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>8th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>240</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>9th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>272</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>10th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>304</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>11th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>336</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>12</SubIdx>
+ <Name>12th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>368</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>13th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>400</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>14th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>432</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>15</SubIdx>
+ <Name>15th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>464</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>16th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>496</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>17th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>528</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>18th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>560</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>19</SubIdx>
+ <Name>19th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>592</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>20</SubIdx>
+ <Name>20th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>624</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>21</SubIdx>
+ <Name>21th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>656</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>22</SubIdx>
+ <Name>22th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>688</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>23</SubIdx>
+ <Name>23th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>720</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>24</SubIdx>
+ <Name>24th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>752</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>25</SubIdx>
+ <Name>25th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>784</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>26</SubIdx>
+ <Name>26th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>816</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>27</SubIdx>
+ <Name>27th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>848</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>28</SubIdx>
+ <Name>28th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>880</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>29</SubIdx>
+ <Name>29th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>912</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>30</SubIdx>
+ <Name>30th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>944</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>31</SubIdx>
+ <Name>31th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>976</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C12</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Assign1</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Assign2</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Assign3</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Assign4</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>64</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
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+ <Index>#x607E</Index>
+ <Name>Polarity</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6083</Index>
+ <Name>Profile Acceleration</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>FFFFFFFF</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6084</Index>
+ <Name>Profile Deceleration</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>ffffffff</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </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>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Speed during search for switch</Name>
+ <Info>
+ <DefaultData>55550300</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Speed during search for zero</Name>
+ <Info>
+ <DefaultData>88080000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x609A</Index>
+ <Name>Homing Acceleration</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>ffffffff</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60E0</Index>
+ <Name>Positive Torque Limit</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>E803</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60E1</Index>
+ <Name>Negative Torque Limit</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>E803</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </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>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </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>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60FE</Index>
+ <Name>Digital Outputs</Name>
+ <Type>DT60FE</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>01</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Physical output</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <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>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6502</Index>
+ <Name>Supported Drive Mode</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>80030300</DefaultData>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ </Objects>
+ </Dictionary>
+ </Profile>
+ <Fmmu Sm = "2">Outputs</Fmmu>
+ <Fmmu Sm = "3">Inputs</Fmmu>
+ <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1800" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+ <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1c00" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+ <Sm StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
+ <Sm StartAddress="#x1400" ControlByte="#x20" Enable="1">Inputs</Sm>
+ <Su>Drives</Su>
+ <RxPdo Fixed="1" Sm="2">
+ <Index>#x1600</Index>
+ <Name>Receive PDO mapping</Name>
+ <Entry>
+ <Index>#x6040</Index> <!-- ControlWord -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Controlword</Name>
+ <Comment>object 0x6040:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x607A</Index> <!-- Target Position -->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Target Position</Name>
+ <Comment>object 0x607A:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60FF</Index> <!-- Target Velocity -->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Target Velocity</Name>
+ <Comment>object 0x60FF:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6071</Index> <!-- Target Torque -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Target Torque</Name>
+ <Comment>object 0x6071:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6060</Index> <!-- Mode of Operation -->
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Mode of Operation</Name>
+ <Comment>object 0x6060:0</Comment>
+ <DataType>USINT</DataType>
+ </Entry>
+ </RxPdo>
+ <TxPdo Fixed="1" Sm="3">
+ <Index>#x1A00</Index>
+ <Name>Transmit PDO mapping</Name>
+ <Entry>
+ <Index>#x6041</Index> <!-- Status Word -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Statusword</Name>
+ <Comment>object 0x6041:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6064</Index> <!-- Actual Position -->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Position actual value</Name>
+ <Comment>object 0x6064:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6077</Index> <!-- Actual Toruque -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Torque actual value</Name>
+ <Comment>object 0x6077:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6061</Index> <!-- Mode of Operation Display -->
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Modes of operation display</Name>
+ <Comment>object 0x6061:0</Comment>
+ <DataType>USINT</DataType>
+ </Entry>
+ </TxPdo>
+ <Mailbox>
+ <CoE DS402Channels="1" CompleteAccess="true" PdoUpload="false" PdoAssign="false" PdoConfig="false" SdoInfo="false">
+ </CoE>
+ </Mailbox>
+ <Dc>
+ <OpMode>
+ <Name>DC</Name>
+ <Desc>DC-Synchron</Desc>
+ <AssignActivate>#x700</AssignActivate>
+ <CycleTimeSync0 Factor="0">1000</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="0">50000</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ </OpMode>
+ <OpMode>
+ <Name>Free-run</Name>
+ <Desc>DC unused</Desc>
+ <AssignActivate>#x0000</AssignActivate>
+ </OpMode>
+ </Dc>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>080C0244320000000000</ConfigData>
+ </Eeprom>
+ <Image16x14>DRIVE</Image16x14>
+ </Device>
+
+ <Device Physics="YY">
+ <Type TcCfgModeSafeOp="1" ProductCode="#x69686555" RevisionNo="#x00000096">EDA7150 CoE Drive</Type>
+ <Name LcId="1033"><![CDATA[EDA7150 CoE Servo Drive (15.0KW)]]></Name>
+ <URL LcId="1033">http://www.higenmotor.com/info/infodata03.asp?exec=3</URL>
+ <Info>
+ <StateMachine>
+ <Behavior StartToSafeopNoSync="false"/>
+ </StateMachine>
+ </Info>
+ <GroupType>Drive</GroupType>
+ <Profile>
+ <ProfileNo>402</ProfileNo>
+ <Dictionary>
+ <DataTypes>
+ <DataType>
+ <Name>BOOLEAN</Name>
+ <BitSize>1</BitSize>
+ </DataType>
+ <DataType>
+ <Name>STRING(0)</Name>
+ <BitSize>0</BitSize>
+ </DataType>
+ <DataType>
+ <Name>SINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>USINT</Name>
+ <BitSize>8</BitSize>
+ </DataType>
+ <DataType>
+ <Name>INT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UINT</Name>
+ <BitSize>16</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>UDINT</Name>
+ <BitSize>32</BitSize>
+ </DataType>
+ <DataType>
+ <Name>DT1018</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ </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>
+ </DataType>
+ <DataType>
+ <Name>DT1600</Name>
+ <BitSize>1008</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>1st mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>2nd mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>3rd mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>80</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>4th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>112</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>5</SubIdx>
+ <Name>5th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>144</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>6</SubIdx>
+ <Name>6th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>176</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>7</SubIdx>
+ <Name>7th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>208</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>8</SubIdx>
+ <Name>8th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>240</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>9</SubIdx>
+ <Name>9th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>272</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>10</SubIdx>
+ <Name>10th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>304</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>11</SubIdx>
+ <Name>11th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>336</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>12</SubIdx>
+ <Name>12th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>368</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>13</SubIdx>
+ <Name>13th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>400</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>14</SubIdx>
+ <Name>14th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>432</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>15</SubIdx>
+ <Name>15th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>464</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>16</SubIdx>
+ <Name>16th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>496</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>17</SubIdx>
+ <Name>17th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>528</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>18</SubIdx>
+ <Name>18th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>560</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>19</SubIdx>
+ <Name>19th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>592</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>20</SubIdx>
+ <Name>20th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>624</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>21</SubIdx>
+ <Name>21th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>656</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>22</SubIdx>
+ <Name>22th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>688</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>23</SubIdx>
+ <Name>23th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>720</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>24</SubIdx>
+ <Name>24th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>752</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>25</SubIdx>
+ <Name>25th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>784</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>26</SubIdx>
+ <Name>26th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>816</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>27</SubIdx>
+ <Name>27th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>848</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>28</SubIdx>
+ <Name>28th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>880</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>29</SubIdx>
+ <Name>29th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>912</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>30</SubIdx>
+ <Name>30th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>944</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>31</SubIdx>
+ <Name>31th mapping data</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <BitOffs>976</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ </DataType>
+ <DataType>
+ <Name>DT1C12</Name>
+ <BitSize>80</BitSize>
+ <SubItem>
+ <SubIdx>0</SubIdx>
+ <Name>largest sub-index supported</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <BitOffs>0</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>1</SubIdx>
+ <Name>Assign1</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>16</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>2</SubIdx>
+ <Name>Assign2</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>32</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>3</SubIdx>
+ <Name>Assign3</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <BitOffs>48</BitOffs>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </SubItem>
+ <SubItem>
+ <SubIdx>4</SubIdx>
+ <Name>Assign4</Name>
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+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x607E</Index>
+ <Name>Polarity</Name>
+ <Type>USINT</Type>
+ <BitSize>8</BitSize>
+ <Info>
+ <DefaultData>00</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6083</Index>
+ <Name>Profile Acceleration</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>FFFFFFFF</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6084</Index>
+ <Name>Profile Deceleration</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>ffffffff</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </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>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>02</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Speed during search for switch</Name>
+ <Info>
+ <DefaultData>55550300</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Speed during search for zero</Name>
+ <Info>
+ <DefaultData>88080000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x609A</Index>
+ <Name>Homing Acceleration</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>ffffffff</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60E0</Index>
+ <Name>Positive Torque Limit</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>E803</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60E1</Index>
+ <Name>Negative Torque Limit</Name>
+ <Type>UINT</Type>
+ <BitSize>16</BitSize>
+ <Info>
+ <DefaultData>E803</DefaultData>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </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>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </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>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x60FE</Index>
+ <Name>Digital Outputs</Name>
+ <Type>DT60FE</Type>
+ <BitSize>48</BitSize>
+ <Info>
+ <SubItem>
+ <Name>largest sub-index supported</Name>
+ <Info>
+ <DefaultData>01</DefaultData>
+ </Info>
+ </SubItem>
+ <SubItem>
+ <Name>Physical output</Name>
+ <Info>
+ <DefaultData>00000000</DefaultData>
+ </Info>
+ </SubItem>
+ </Info>
+ <Flags>
+ <Access>rw</Access>
+ <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>
+ <Category>o</Category>
+ <PdoMapping>RT</PdoMapping>
+ </Flags>
+ </Object>
+ <Object>
+ <Index>#x6502</Index>
+ <Name>Supported Drive Mode</Name>
+ <Type>UDINT</Type>
+ <BitSize>32</BitSize>
+ <Info>
+ <DefaultData>80030300</DefaultData>
+ </Info>
+ <Flags>
+ <Access>ro</Access>
+ <Category>o</Category>
+ </Flags>
+ </Object>
+ </Objects>
+ </Dictionary>
+ </Profile>
+ <Fmmu Sm = "2">Outputs</Fmmu>
+ <Fmmu Sm = "3">Inputs</Fmmu>
+ <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1800" ControlByte="#x26" Enable="1">MBoxOut</Sm>
+ <Sm MinSize="#x0020" MaxSize="#x0200" DefaultSize="#x100" StartAddress="#x1c00" ControlByte="#x22" Enable="1">MBoxIn</Sm>
+ <Sm StartAddress="#x1100" ControlByte="#x24" Enable="1">Outputs</Sm>
+ <Sm StartAddress="#x1400" ControlByte="#x20" Enable="1">Inputs</Sm>
+ <Su>Drives</Su>
+ <RxPdo Fixed="1" Sm="2">
+ <Index>#x1600</Index>
+ <Name>Receive PDO mapping</Name>
+ <Entry>
+ <Index>#x6040</Index> <!-- ControlWord -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Controlword</Name>
+ <Comment>object 0x6040:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x607A</Index> <!-- Target Position -->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Target Position</Name>
+ <Comment>object 0x607A:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x60FF</Index> <!-- Target Velocity -->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Target Velocity</Name>
+ <Comment>object 0x60FF:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6071</Index> <!-- Target Torque -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Target Torque</Name>
+ <Comment>object 0x6071:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6060</Index> <!-- Mode of Operation -->
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Mode of Operation</Name>
+ <Comment>object 0x6060:0</Comment>
+ <DataType>USINT</DataType>
+ </Entry>
+ </RxPdo>
+ <TxPdo Fixed="1" Sm="3">
+ <Index>#x1A00</Index>
+ <Name>Transmit PDO mapping</Name>
+ <Entry>
+ <Index>#x6041</Index> <!-- Status Word -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Statusword</Name>
+ <Comment>object 0x6041:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6064</Index> <!-- Actual Position -->
+ <SubIndex>0</SubIndex>
+ <BitLen>32</BitLen>
+ <Name>Position actual value</Name>
+ <Comment>object 0x6064:0</Comment>
+ <DataType>DINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6077</Index> <!-- Actual Toruque -->
+ <SubIndex>0</SubIndex>
+ <BitLen>16</BitLen>
+ <Name>Torque actual value</Name>
+ <Comment>object 0x6077:0</Comment>
+ <DataType>UINT</DataType>
+ </Entry>
+ <Entry>
+ <Index>#x6061</Index> <!-- Mode of Operation Display -->
+ <SubIndex>0</SubIndex>
+ <BitLen>8</BitLen>
+ <Name>Modes of operation display</Name>
+ <Comment>object 0x6061:0</Comment>
+ <DataType>USINT</DataType>
+ </Entry>
+ </TxPdo>
+ <Mailbox>
+ <CoE DS402Channels="1" CompleteAccess="true" PdoUpload="false" PdoAssign="false" PdoConfig="false" SdoInfo="false">
+ </CoE>
+ </Mailbox>
+ <Dc>
+ <OpMode>
+ <Name>DC</Name>
+ <Desc>DC-Synchron</Desc>
+ <AssignActivate>#x700</AssignActivate>
+ <CycleTimeSync0 Factor="0">1000</CycleTimeSync0>
+ <ShiftTimeSync0>0</ShiftTimeSync0>
+ <CycleTimeSync1 Factor="0">50000</CycleTimeSync1>
+ <ShiftTimeSync1>0</ShiftTimeSync1>
+ </OpMode>
+ <OpMode>
+ <Name>Free-run</Name>
+ <Desc>DC unused</Desc>
+ <AssignActivate>#x0000</AssignActivate>
+ </OpMode>
+ </Dc>
+ <Eeprom>
+ <ByteSize>2048</ByteSize>
+ <ConfigData>080C0244320000000000</ConfigData>
+ </Eeprom>
+ <Image16x14>DRIVE</Image16x14>
+ </Device>
+ </Devices>
+ </Descriptions>
+</EtherCATInfo>
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ethercat_tests/wago_higen/ethercat@etherlab/plugin.xml Sun Apr 01 16:36:41 2012 +0200
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<EtherlabInstance/>
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/ethercat_tests/wago_higen/plc.xml Sun Apr 01 16:36:41 2012 +0200
@@ -0,0 +1,433 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+ xmlns="http://www.plcopen.org/xml/tc6.xsd"
+ xmlns:xhtml="http://www.w3.org/1999/xhtml"
+ xsi:schemaLocation="http://www.plcopen.org/xml/tc6.xsd">
+ <fileHeader companyName="Laurent BESSARD"
+ productName="test_ethercat"
+ productVersion="1.0"
+ creationDateTime="2011-10-20T19:01:52"/>
+ <contentHeader name="test_ethercat"
+ modificationDateTime="2012-03-31T16:16:33">
+ <coordinateInfo>
+ <fbd>
+ <scaling x="0" y="0"/>
+ </fbd>
+ <ld>
+ <scaling x="0" y="0"/>
+ </ld>
+ <sfc>
+ <scaling x="0" y="0"/>
+ </sfc>
+ </coordinateInfo>
+ </contentHeader>
+ <types>
+ <dataTypes/>
+ <pous>
+ <pou name="Prog" pouType="program">
+ <interface>
+ <localVars>
+ <variable name="CLOCK" address="%QX0.0.2.28672.1">
+ <type>
+ <BOOL/>
+ </type>
+ </variable>
+ <variable name="LED" address="%QX0.0.2.28688.1">
+ <type>
+ <BOOL/>
+ </type>
+ <initialValue>
+ <simpleValue value="TRUE"/>
+ </initialValue>
+ </variable>
+ <variable name="ControlWord" address="%QW0.0.3.24640.0">
+ <type>
+ <UINT/>
+ </type>
+ </variable>
+ <variable name="StatusWord" address="%IW0.0.3.24641.0">
+ <type>
+ <UINT/>
+ </type>
+ </variable>
+ <variable name="ErrorCode" address="%IW0.0.3.24639.0">
+ <type>
+ <UINT/>
+ </type>
+ </variable>
+ <variable name="ModeDisplay" address="%IB0.0.3.24673.0">
+ <type>
+ <SINT/>
+ </type>
+ </variable>
+ <variable name="ActualPosition" address="%ID0.0.3.24676.0">
+ <type>
+ <DINT/>
+ </type>
+ </variable>
+ <variable name="TargetPosition" address="%QD0.0.3.24698.0">
+ <type>
+ <DINT/>
+ </type>
+ </variable>
+ </localVars>
+ </interface>
+ <body>
+ <ST>
+<![CDATA[CLOCK := NOT CLOCK;]]>
+ </ST>
+ </body>
+ </pou>
+ <pou name="test_MCL" pouType="program">
+ <interface>
+ <localVars>
+ <variable name="CLOCK">
+ <type>
+ <UDINT/>
+ </type>
+ </variable>
+ </localVars>
+ <localVars>
+ <variable name="Axis" address="%IW0.0.3.0">
+ <type>
+ <derived name="AXIS_REF"/>
+ </type>
+ </variable>
+ </localVars>
+ <localVars>
+ <variable name="switch">
+ <type>
+ <derived name="MC_Power"/>
+ </type>
+ </variable>
+ <variable name="move1">
+ <type>
+ <derived name="MC_MoveAbsolute"/>
+ </type>
+ </variable>
+ </localVars>
+ </interface>
+ <body>
+ <FBD>
+ <inVariable localId="1" height="27" width="53">
+ <position x="45" y="36"/>
+ <connectionPointOut>
+ <relPosition x="53" y="13"/>
+ </connectionPointOut>
+ <expression>CLOCK</expression>
+ </inVariable>
+ <block localId="2" width="111" height="116" typeName="ADD">
+ <position x="149" y="5"/>
+ <inputVariables>
+ <variable formalParameter="IN1">
+ <connectionPointIn>
+ <relPosition x="0" y="44"/>
+ <connection refLocalId="1">
+ <position x="149" y="49"/>
+ <position x="98" y="49"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="IN2">
+ <connectionPointIn>
+ <relPosition x="0" y="92"/>
+ <connection refLocalId="3">
+ <position x="149" y="97"/>
+ <position x="98" y="97"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ </inputVariables>
+ <inOutVariables/>
+ <outputVariables>
+ <variable formalParameter="OUT">
+ <connectionPointOut>
+ <relPosition x="111" y="44"/>
+ </connectionPointOut>
+ </variable>
+ </outputVariables>
+ </block>
+ <inVariable localId="3" height="27" width="18">
+ <position x="80" y="84"/>
+ <connectionPointOut>
+ <relPosition x="18" y="13"/>
+ </connectionPointOut>
+ <expression>1</expression>
+ </inVariable>
+ <outVariable localId="4" height="27" width="53">
+ <position x="302" y="36"/>
+ <connectionPointIn>
+ <relPosition x="0" y="13"/>
+ <connection refLocalId="2" formalParameter="OUT">
+ <position x="302" y="49"/>
+ <position x="260" y="49"/>
+ </connection>
+ </connectionPointIn>
+ <expression>CLOCK</expression>
+ </outVariable>
+ <inVariable localId="5" height="27" width="53">
+ <position x="46" y="234"/>
+ <connectionPointOut>
+ <relPosition x="53" y="13"/>
+ </connectionPointOut>
+ <expression>CLOCK</expression>
+ </inVariable>
+ <inVariable localId="6" height="27" width="50">
+ <position x="49" y="268"/>
+ <connectionPointOut>
+ <relPosition x="50" y="13"/>
+ </connectionPointOut>
+ <expression>4000</expression>
+ </inVariable>
+ <block localId="7" width="99" height="89" typeName="GT">
+ <position x="155" y="210"/>
+ <inputVariables>
+ <variable formalParameter="IN1">
+ <connectionPointIn>
+ <relPosition x="0" y="37"/>
+ <connection refLocalId="5">
+ <position x="155" y="247"/>
+ <position x="99" y="247"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="IN2">
+ <connectionPointIn>
+ <relPosition x="0" y="71"/>
+ <connection refLocalId="6">
+ <position x="155" y="281"/>
+ <position x="99" y="281"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ </inputVariables>
+ <inOutVariables/>
+ <outputVariables>
+ <variable formalParameter="OUT">
+ <connectionPointOut>
+ <relPosition x="99" y="37"/>
+ </connectionPointOut>
+ </variable>
+ </outputVariables>
+ </block>
+ <block localId="8" width="159" height="204" typeName="MC_Power" instanceName="switch">
+ <position x="398" y="173"/>
+ <inputVariables>
+ <variable formalParameter="Axis">
+ <connectionPointIn>
+ <relPosition x="0" y="38"/>
+ <connection refLocalId="9">
+ <position x="398" y="211"/>
+ <position x="344" y="211"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="Enable">
+ <connectionPointIn>
+ <relPosition x="0" y="74"/>
+ <connection refLocalId="7" formalParameter="OUT">
+ <position x="398" y="247"/>
+ <position x="254" y="247"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="EnablePositive">
+ <connectionPointIn>
+ <relPosition x="0" y="110"/>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="EnableNegative">
+ <connectionPointIn>
+ <relPosition x="0" y="146"/>
+ </connectionPointIn>
+ </variable>
+ </inputVariables>
+ <inOutVariables/>
+ <outputVariables>
+ <variable formalParameter="Axis">
+ <connectionPointOut>
+ <relPosition x="159" y="38"/>
+ </connectionPointOut>
+ </variable>
+ <variable formalParameter="Status">
+ <connectionPointOut>
+ <relPosition x="159" y="74"/>
+ </connectionPointOut>
+ </variable>
+ <variable formalParameter="Valid">
+ <connectionPointOut>
+ <relPosition x="159" y="110"/>
+ </connectionPointOut>
+ </variable>
+ <variable formalParameter="Error">
+ <connectionPointOut>
+ <relPosition x="159" y="146"/>
+ </connectionPointOut>
+ </variable>
+ <variable formalParameter="ErrorID">
+ <connectionPointOut>
+ <relPosition x="159" y="182"/>
+ </connectionPointOut>
+ </variable>
+ </outputVariables>
+ </block>
+ <inVariable localId="9" height="27" width="36">
+ <position x="308" y="198"/>
+ <connectionPointOut>
+ <relPosition x="36" y="13"/>
+ </connectionPointOut>
+ <expression>Axis</expression>
+ </inVariable>
+ <block localId="10" width="252" height="389" typeName="MC_MoveAbsolute" instanceName="move1">
+ <position x="744" y="173"/>
+ <inputVariables>
+ <variable formalParameter="Axis">
+ <connectionPointIn>
+ <relPosition x="0" y="38"/>
+ <connection refLocalId="8" formalParameter="Axis">
+ <position x="744" y="211"/>
+ <position x="557" y="211"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="Execute">
+ <connectionPointIn>
+ <relPosition x="0" y="74"/>
+ <connection refLocalId="8" formalParameter="Status">
+ <position x="744" y="247"/>
+ <position x="557" y="247"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="ContinuousUpdate">
+ <connectionPointIn>
+ <relPosition x="0" y="110"/>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="Position">
+ <connectionPointIn>
+ <relPosition x="0" y="146"/>
+ <connection refLocalId="11">
+ <position x="744" y="319"/>
+ <position x="672" y="319"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="Velocity">
+ <connectionPointIn>
+ <relPosition x="0" y="182"/>
+ <connection refLocalId="12">
+ <position x="744" y="355"/>
+ <position x="671" y="355"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="Acceleration">
+ <connectionPointIn>
+ <relPosition x="0" y="218"/>
+ <connection refLocalId="12">
+ <position x="744" y="391"/>
+ <position x="707" y="391"/>
+ <position x="707" y="355"/>
+ <position x="671" y="355"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="Deceleration">
+ <connectionPointIn>
+ <relPosition x="0" y="254"/>
+ <connection refLocalId="12">
+ <position x="744" y="427"/>
+ <position x="707" y="427"/>
+ <position x="707" y="355"/>
+ <position x="671" y="355"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="Jerk">
+ <connectionPointIn>
+ <relPosition x="0" y="290"/>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="Direction">
+ <connectionPointIn>
+ <relPosition x="0" y="326"/>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="BufferMode">
+ <connectionPointIn>
+ <relPosition x="0" y="362"/>
+ </connectionPointIn>
+ </variable>
+ </inputVariables>
+ <inOutVariables/>
+ <outputVariables>
+ <variable formalParameter="Axis">
+ <connectionPointOut>
+ <relPosition x="252" y="38"/>
+ </connectionPointOut>
+ </variable>
+ <variable formalParameter="Done">
+ <connectionPointOut>
+ <relPosition x="252" y="74"/>
+ </connectionPointOut>
+ </variable>
+ <variable formalParameter="Busy">
+ <connectionPointOut>
+ <relPosition x="252" y="110"/>
+ </connectionPointOut>
+ </variable>
+ <variable formalParameter="Active">
+ <connectionPointOut>
+ <relPosition x="252" y="146"/>
+ </connectionPointOut>
+ </variable>
+ <variable formalParameter="CommandAborted">
+ <connectionPointOut>
+ <relPosition x="252" y="182"/>
+ </connectionPointOut>
+ </variable>
+ <variable formalParameter="Error">
+ <connectionPointOut>
+ <relPosition x="252" y="218"/>
+ </connectionPointOut>
+ </variable>
+ <variable formalParameter="ErrorID">
+ <connectionPointOut>
+ <relPosition x="252" y="254"/>
+ </connectionPointOut>
+ </variable>
+ </outputVariables>
+ </block>
+ <inVariable localId="11" height="27" width="54">
+ <position x="630" y="306"/>
+ <connectionPointOut>
+ <relPosition x="54" y="13"/>
+ </connectionPointOut>
+ <expression>1800.0</expression>
+ </inVariable>
+ <inVariable localId="12" height="27" width="46">
+ <position x="637" y="342"/>
+ <connectionPointOut>
+ <relPosition x="46" y="13"/>
+ </connectionPointOut>
+ <expression>360.0</expression>
+ </inVariable>
+ </FBD>
+ </body>
+ </pou>
+ </pous>
+ </types>
+ <instances>
+ <configurations>
+ <configuration name="conf">
+ <resource name="res">
+ <task name="main_task" interval="T#0.5ms" priority="0">
+ <pouInstance name="main_instance" typeName="Prog"/>
+ <pouInstance name="test_MCL_instance" typeName="test_MCL"/>
+ </task>
+ </resource>
+ </configuration>
+ </configurations>
+ </instances>
+</project>
--- a/etherlab/etherlab.py Sat Mar 31 15:13:14 2012 +0200
+++ b/etherlab/etherlab.py Sun Apr 01 16:36:41 2012 +0200
@@ -166,10 +166,10 @@
NODE_VARIABLES = [
("ControlWord", 0x6040, 0x00, "UINT", "Q"),
("TargetPosition", 0x607a, 0x00, "DINT", "Q"),
+ ("ModesOfOperation", 0x06060, 0x00, "SINT", "Q"),
("StatusWord", 0x6041, 0x00, "UINT", "I"),
("ModesOfOperationDisplay", 0x06061, 0x00, "SINT", "I"),
("ActualPosition", 0x6064, 0x00, "DINT", "I"),
- ("ErrorCode", 0x603f, 0x00, "UINT", "I"),
]
class _EthercatCIA402SlavePlug(_EthercatSlavePlug):
@@ -210,10 +210,10 @@
location_str = "_".join(map(lambda x:str(x), current_location))
- plc_ds402node_filepath = os.path.join(os.path.split(__file__)[0], "plc_ds402node.c")
- plc_ds402node_file = open(plc_ds402node_filepath, 'r')
- plc_ds402node_code = plc_ds402node_file.read()
- plc_ds402node_file.close()
+ plc_cia402node_filepath = os.path.join(os.path.split(__file__)[0], "plc_cia402node.c")
+ plc_cia402node_file = open(plc_cia402node_filepath, 'r')
+ plc_cia402node_code = plc_cia402node_file.read()
+ plc_cia402node_file.close()
str_completion = {
"location": location_str,
@@ -261,10 +261,10 @@
"init_entry_variables"]:
str_completion[element] = "\n".join(str_completion[element])
- Gen_CIA402Nodefile_path = os.path.join(buildpath, "ds402node_%s.c"%location_str)
- ds402nodefile = open(Gen_CIA402Nodefile_path, 'w')
- ds402nodefile.write(plc_ds402node_code % str_completion)
- ds402nodefile.close()
+ Gen_CIA402Nodefile_path = os.path.join(buildpath, "cia402node_%s.c"%location_str)
+ cia402nodefile = open(Gen_CIA402Nodefile_path, 'w')
+ cia402nodefile.write(plc_cia402node_code % str_completion)
+ cia402nodefile.close()
return [(Gen_CIA402Nodefile_path, '"-I%s"'%os.path.abspath(self.GetPlugRoot().GetIECLibPath()))],"",True
@@ -926,8 +926,14 @@
entry_infos.update(dict(zip(["var_type", "dir", "var_name"], entry_declaration["infos"])))
entry_declaration["mapped"] = True
- if entry_infos["var_type"] != entry.getDataType().getcontent():
- raise ValueError, _("Wrong type for location \"%s\"!") % entry_infos["var_name"]
+ entry_type = entry.getDataType().getcontent()
+ if entry_infos["var_type"] != entry_type:
+ message = _("Wrong type for location \"%s\"!") % entry_infos["var_name"]
+ if (self.Controler.GetSizeOfType(entry_infos["var_type"]) !=
+ self.Controler.GetSizeOfType(entry_type)):
+ raise ValueError, message
+ else:
+ self.Controler.GetPlugRoot().logger.write_warning(message + "\n")
if (entry_infos["dir"] == "I" and pdo_type != "Inputs" or
entry_infos["dir"] == "Q" and pdo_type != "Outputs"):
@@ -1004,7 +1010,12 @@
entry_declaration["mapped"] = True
if entry_infos["var_type"] != entry["Type"]:
- raise ValueError, _("Wrong type for location \"%s\"!") % entry_infos["var_name"]
+ message = _("Wrong type for location \"%s\"!") % entry_infos["var_name"]
+ if (self.Controler.GetSizeOfType(entry_infos["var_type"]) !=
+ self.Controler.GetSizeOfType(entry["Type"])):
+ raise ValueError, message
+ else:
+ self.Controler.GetPlugRoot().logger.write_warning(message + "\n")
if entry_infos["dir"] == "I" and entry["PDOMapping"] in ["T", "RT"]:
pdo_type = "Inputs"
--- a/etherlab/plc_cia402node.c Sat Mar 31 15:13:14 2012 +0200
+++ b/etherlab/plc_cia402node.c Sun Apr 01 16:36:41 2012 +0200
@@ -61,7 +61,7 @@
if (__FirstTick) {
%(init_axis_params)s
- _FirstTick = 0;
+ __FirstTick = 0;
}
// CIA402 node state computation